Algorithm of pattern generation for mimicking disabled person's gait

Hideki Kondo, Akitoshi Morishima, Yu Ogura, Shimpei Momoki, Juri Shimizu, Hun Ok Lim, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    10 Citations (Scopus)

    Abstract

    the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons' walking is proposed. It has two 6-DOF legs, two 1-DOF feet, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, an algorithm for generating walking patterns for emulations of disabled persons' gaits for each case of disabilities based on the ZMP criterion is described. Moreover, the emulation experiment of the hemiplegic gait of a subject was conducted to demonstrate the effectiveness of the pattern generation method and mechanism of WABIAN-2R as a human motion simulator.

    Original languageEnglish
    Title of host publicationProceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
    Pages724-729
    Number of pages6
    DOIs
    Publication statusPublished - 2008
    Event2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 - Scottsdale, AZ
    Duration: 2008 Oct 192008 Oct 22

    Other

    Other2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008
    CityScottsdale, AZ
    Period08/10/1908/10/22

    Fingerprint

    Disabled persons
    Robots
    Simulators
    Testing
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Vision and Pattern Recognition
    • Biomedical Engineering

    Cite this

    Kondo, H., Morishima, A., Ogura, Y., Momoki, S., Shimizu, J., Lim, H. O., & Takanishi, A. (2008). Algorithm of pattern generation for mimicking disabled person's gait. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008 (pp. 724-729). [4762891] https://doi.org/10.1109/BIOROB.2008.4762891

    Algorithm of pattern generation for mimicking disabled person's gait. / Kondo, Hideki; Morishima, Akitoshi; Ogura, Yu; Momoki, Shimpei; Shimizu, Juri; Lim, Hun Ok; Takanishi, Atsuo.

    Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 724-729 4762891.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Kondo, H, Morishima, A, Ogura, Y, Momoki, S, Shimizu, J, Lim, HO & Takanishi, A 2008, Algorithm of pattern generation for mimicking disabled person's gait. in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008., 4762891, pp. 724-729, 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008, Scottsdale, AZ, 08/10/19. https://doi.org/10.1109/BIOROB.2008.4762891
    Kondo H, Morishima A, Ogura Y, Momoki S, Shimizu J, Lim HO et al. Algorithm of pattern generation for mimicking disabled person's gait. In Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. p. 724-729. 4762891 https://doi.org/10.1109/BIOROB.2008.4762891
    Kondo, Hideki ; Morishima, Akitoshi ; Ogura, Yu ; Momoki, Shimpei ; Shimizu, Juri ; Lim, Hun Ok ; Takanishi, Atsuo. / Algorithm of pattern generation for mimicking disabled person's gait. Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2008. 2008. pp. 724-729
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