Motion control for an intelligent walking support machine

Yina Wang, Shuoyu Wang, Renpeng Tan, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

    Research output: Contribution to journalArticlepeer-review

    7 Citations (Scopus)

    Abstract

    Walking is a vital exercise for health promotion and fundamental ability necessary for everyday life. Up to now, many robots for walking support or walking rehabilitation of the elderly and the disabled are reported. In this paper, a new omni-directional walking support machine is developed. The machine can realize walking support by following the user's control intention which is detected according to the user's manipulation. However, the motion of the machine is affected by the nonlinear frictions, center-of-gravity (COG) shifts and loads changes caused by users. It is necessary to improve the machine's motion performance to follow the user intention and support the user. Therefore, this paper describes a motion control method based on digital acceleration control to deal with the problem of nonlinear frictions, COG shifts and loads changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method.

    Original languageEnglish
    Pages (from-to)145-149
    Number of pages5
    JournalICIC Express Letters
    Volume6
    Issue number1
    Publication statusPublished - 2012 Jan

    Keywords

    • Centre-of-gravity shift
    • Digital acceleration control
    • Load changes
    • Nonlinear friction
    • Omni-directional walker
    • Walking support

    ASJC Scopus subject areas

    • Computer Science(all)
    • Control and Systems Engineering

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