Motion control for an intelligent walking support machine

Yina Wang, Shuoyu Wang, Renpeng Tan, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

    研究成果: Article

    7 引用 (Scopus)

    抜粋

    Walking is a vital exercise for health promotion and fundamental ability necessary for everyday life. Up to now, many robots for walking support or walking rehabilitation of the elderly and the disabled are reported. In this paper, a new omni-directional walking support machine is developed. The machine can realize walking support by following the user's control intention which is detected according to the user's manipulation. However, the motion of the machine is affected by the nonlinear frictions, center-of-gravity (COG) shifts and loads changes caused by users. It is necessary to improve the machine's motion performance to follow the user intention and support the user. Therefore, this paper describes a motion control method based on digital acceleration control to deal with the problem of nonlinear frictions, COG shifts and loads changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method.

    元の言語English
    ページ(範囲)145-149
    ページ数5
    ジャーナルICIC Express Letters
    6
    発行部数1
    出版物ステータスPublished - 2012 1

      フィンガープリント

    ASJC Scopus subject areas

    • Computer Science(all)
    • Control and Systems Engineering

    これを引用

    Wang, Y., Wang, S., Tan, R., Jiang, Y., Ishida, K., & Fujie, M. G. (2012). Motion control for an intelligent walking support machine. ICIC Express Letters, 6(1), 145-149.