Adaptive controller for motion control of a seated walking training machine

Yuto Watanabe, Shuoyu Wang, Kenji Ishida, Renpeng Tan, Yinla Jiang, Masakatsu Fujie

    研究成果: Conference contribution

    1 引用 (Scopus)

    抜粋

    Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and used in simulations. First, the kinematics and the kinetics of the seated walking training machine motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in simulation experiments demonstrates 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2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
    ページ271-275
    ページ数5
    DOI
    出版物ステータスPublished - 2011
    イベント2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing
    継続期間: 2011 8 72011 8 10

    Other

    Other2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
    Beijing
    期間11/8/711/8/10

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Electrical and Electronic Engineering
    • Mechanical Engineering

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  • これを引用

    Watanabe, Y., Wang, S., Ishida, K., Tan, R., Jiang, Y., & Fujie, M. (2011). Adaptive controller for motion control of a seated walking training machine. : 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 271-275). [5985669] https://doi.org/10.1109/ICMA.2011.5985669