Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement

Takao Watanabe, Eiichi Ohki, Yo Kobayashi, Masakatsu G. Fujie

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

9 Citations (Scopus)

Abstract

A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2235-2240
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK
Duration: 2010 May 32010 May 7

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CityAnchorage, AK
Period10/5/310/5/7

Fingerprint

Feedforward control
Force control
Actuators
Experiments

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Watanabe, T., Ohki, E., Kobayashi, Y., & Fujie, M. G. (2010). Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 2235-2240). [5509514] https://doi.org/10.1109/ROBOT.2010.5509514

Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement. / Watanabe, Takao; Ohki, Eiichi; Kobayashi, Yo; Fujie, Masakatsu G.

Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 2235-2240 5509514.

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

Watanabe, T, Ohki, E, Kobayashi, Y & Fujie, MG 2010, Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement. in Proceedings - IEEE International Conference on Robotics and Automation., 5509514, pp. 2235-2240, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509514
Watanabe T, Ohki E, Kobayashi Y, Fujie MG. Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement. In Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 2235-2240. 5509514 https://doi.org/10.1109/ROBOT.2010.5509514
Watanabe, Takao ; Ohki, Eiichi ; Kobayashi, Yo ; Fujie, Masakatsu G. / Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 2235-2240
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