TY - GEN
T1 - Stable Posture Compensation Based on Zero-Moment Point Control Method for a Walking Assistance Apparatus
AU - Yang, Bo Rong
AU - Lee, Hee Hyol
AU - Tanaka, Eiichiro
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/1/14
Y1 - 2019/1/14
N2 - We proposed a walking assistance apparatus for the disabled and elderly people, which is used for gait training and rehabilitation. We used the zero-moment point (ZMP) control method to ensure the stability of the walking assistance apparatus. Since users need to walk on stairs and the distance of every two staircases is invariable, the stride length of the apparatus is supposed to be constant. We compensated ZMP of the apparatus by adjusting the posture and the position of the center of gravity (COG). Thereby, the projection of gravity and inertia force maintain in the support polygon. From simulations, we can adjust the posture of the apparatus and user when instability occurs to prevent the user from stumbling. This method is suitable for walking on flat ground and stairs.
AB - We proposed a walking assistance apparatus for the disabled and elderly people, which is used for gait training and rehabilitation. We used the zero-moment point (ZMP) control method to ensure the stability of the walking assistance apparatus. Since users need to walk on stairs and the distance of every two staircases is invariable, the stride length of the apparatus is supposed to be constant. We compensated ZMP of the apparatus by adjusting the posture and the position of the center of gravity (COG). Thereby, the projection of gravity and inertia force maintain in the support polygon. From simulations, we can adjust the posture of the apparatus and user when instability occurs to prevent the user from stumbling. This method is suitable for walking on flat ground and stairs.
UR - http://www.scopus.com/inward/record.url?scp=85062096271&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062096271&partnerID=8YFLogxK
U2 - 10.1109/CBS.2018.8612288
DO - 10.1109/CBS.2018.8612288
M3 - Conference contribution
AN - SCOPUS:85062096271
T3 - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
SP - 286
EP - 291
BT - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
Y2 - 25 October 2018 through 27 October 2018
ER -