Development of a new mobility system "tread-walk" - Design of a control algorithm for slope movement -

Misato Nihei*, Yuzo Kaneshige, Masakatsu G. Fujie, Takenobu Inoue

*この研究の対応する著者

    研究成果: Conference contribution

    8 被引用数 (Scopus)

    抄録

    In Japan, slopes hinder some older persons from moving around freely, particularly in rural areas. Even persons who are able to walk on flat ground might lose their breath or fall when moving up or down a slope. The present authors have developed a new mobility aid, called "Tread-Walk," that makes use of human gait movement for traveling over flat ground. In this paper, the Tread-Walk system is adapted to walk up and down slopes. Slope walking experiments are conducted to obtain the current load of the treadmill motor, which is measured as the kicking/braking force. The relationship between the pitch angle of the vehicle and floor reaction force is defined based on the obtained load current data. An algorithm that uses the pitch angle as a feedback element is then developed. The walking position does not change greatly on the slope, and steady walking was achieved. Furthermore, the system enables the user to walk smoothly up/down a slope ±7(deg) in an outdoor without stopping.

    本文言語English
    ホスト出版物のタイトル2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
    ページ1006-1011
    ページ数6
    DOI
    出版ステータスPublished - 2006
    イベント2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming
    継続期間: 2006 12月 172006 12月 20

    Other

    Other2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
    CityKunming
    Period06/12/1706/12/20

    ASJC Scopus subject areas

    • 人工知能
    • 電子工学および電気工学

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