Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement

Takao Watanabe, Eiichi Ohki, Yo Kobayashi, Masakatsu G. Fujie

研究成果: Conference contribution

9 引用 (Scopus)

抜粋

A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.

元の言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ2235-2240
ページ数6
DOI
出版物ステータスPublished - 2010
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK
継続期間: 2010 5 32010 5 7

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Anchorage, AK
期間10/5/310/5/7

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

フィンガープリント Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Watanabe, T., Ohki, E., Kobayashi, Y., & Fujie, M. G. (2010). Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement. : Proceedings - IEEE International Conference on Robotics and Automation (pp. 2235-2240). [5509514] https://doi.org/10.1109/ROBOT.2010.5509514