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.
|ホスト出版物のタイトル||Proceedings - IEEE International Conference on Robotics and Automation|
|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 3 → 2010 5 7
|Other||2010 IEEE International Conference on Robotics and Automation, ICRA 2010|
|Period||10/5/3 → 10/5/7|
ASJC Scopus subject areas