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

ASJC Scopus subject areas

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

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