Stable Posture Compensation Based on Zero-Moment Point Control Method for a Walking Assistance Apparatus

Bo Rong Yang, HeeHyol Lee, Eiichiro Tanaka

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

1 Citation (Scopus)

Abstract

We proposed a walking assistance apparatus for the disabled and elderly people, which is used for gait training and rehabilitation. We used the zero-moment point (ZMP) control method to ensure the stability of the walking assistance apparatus. Since users need to walk on stairs and the distance of every two staircases is invariable, the stride length of the apparatus is supposed to be constant. We compensated ZMP of the apparatus by adjusting the posture and the position of the center of gravity (COG). Thereby, the projection of gravity and inertia force maintain in the support polygon. From simulations, we can adjust the posture of the apparatus and user when instability occurs to prevent the user from stumbling. This method is suitable for walking on flat ground and stairs.

Original languageEnglish
Title of host publication2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages286-291
Number of pages6
ISBN (Electronic)9781538673553
DOIs
Publication statusPublished - 2019 Jan 14
Event2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018 - Shenzhen, China
Duration: 2018 Oct 252018 Oct 27

Publication series

Name2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018

Conference

Conference2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
CountryChina
CityShenzhen
Period18/10/2518/10/27

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization

Cite this

Yang, B. R., Lee, H., & Tanaka, E. (2019). Stable Posture Compensation Based on Zero-Moment Point Control Method for a Walking Assistance Apparatus. In 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018 (pp. 286-291). [8612288] (2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CBS.2018.8612288