抄録
In previous studies, an omni-directional walking support machine has been developed for people suffering from walking impairment. During walking support, the machine can identify the user's directional intention according to the user's forearm pressures and support the user to where they want to go. However, the motion performance of the machine is affected by the center-of-gravity (COG) shifts and load changes caused by users, which may cause the danger of colliding obstacles. To address these issues, this paper proposes an adaptive controller for the walking support machine. This control method does not need the exact values of the plant parameters and can adapt to parameter uncertainties by measuring and adjusting the parameters automatically. Therefore, it is very robust to plant parameter changes caused by the COG shifts and load changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed adaptive control method.
| 元の言語 | English |
|---|---|
| ホスト出版物のタイトル | 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 |
| ページ | 684-689 |
| ページ数 | 6 |
| 出版物ステータス | Published - 2012 |
| イベント | 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 - Tokyo 継続期間: 2012 9 18 → 2012 9 21 |
Other
| Other | 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012 |
|---|---|
| 市 | Tokyo |
| 期間 | 12/9/18 → 12/9/21 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering
これを引用
Adaptive control method for a walking support machine considering center-of-gravity shifts and load changes. / Wang, Y. N.; Wang, S. Y.; Tan, R. P.; Jiang, Y. L.; Ishida, K.; Fujie, M. G.
2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012. 2012. p. 684-689 6329664.研究成果: Conference contribution
}
TY - GEN
T1 - Adaptive control method for a walking support machine considering center-of-gravity shifts and load changes
AU - Wang, Y. N.
AU - Wang, S. Y.
AU - Tan, R. P.
AU - Jiang, Y. L.
AU - Ishida, K.
AU - Fujie, M. G.
PY - 2012
Y1 - 2012
N2 - In previous studies, an omni-directional walking support machine has been developed for people suffering from walking impairment. During walking support, the machine can identify the user's directional intention according to the user's forearm pressures and support the user to where they want to go. However, the motion performance of the machine is affected by the center-of-gravity (COG) shifts and load changes caused by users, which may cause the danger of colliding obstacles. To address these issues, this paper proposes an adaptive controller for the walking support machine. This control method does not need the exact values of the plant parameters and can adapt to parameter uncertainties by measuring and adjusting the parameters automatically. Therefore, it is very robust to plant parameter changes caused by the COG shifts and load changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed adaptive control method.
AB - In previous studies, an omni-directional walking support machine has been developed for people suffering from walking impairment. During walking support, the machine can identify the user's directional intention according to the user's forearm pressures and support the user to where they want to go. However, the motion performance of the machine is affected by the center-of-gravity (COG) shifts and load changes caused by users, which may cause the danger of colliding obstacles. To address these issues, this paper proposes an adaptive controller for the walking support machine. This control method does not need the exact values of the plant parameters and can adapt to parameter uncertainties by measuring and adjusting the parameters automatically. Therefore, it is very robust to plant parameter changes caused by the COG shifts and load changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed adaptive control method.
UR - http://www.scopus.com/inward/record.url?scp=84869764042&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869764042&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84869764042
SN - 9780955529382
SP - 684
EP - 689
BT - 2012 International Conference onAdvanced Mechatronic Systems, ICAMechS 2012
ER -