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

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

*この研究の対応する著者

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語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
CityAnchorage, AK
Period10/5/310/5/7

ASJC Scopus subject areas

  • ソフトウェア
  • 人工知能
  • 制御およびシステム工学
  • 電子工学および電気工学

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