Stable Posture Compensation Based on Zero-Moment Point Control Method for a Walking Assistance Apparatus

Bo Rong Yang, HeeHyol Lee, Eiichiro Tanaka

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ286-291
ページ数6
ISBN(電子版)9781538673553
DOI
出版物ステータスPublished - 2019 1 14
イベント2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018 - Shenzhen, China
継続期間: 2018 10 252018 10 27

出版物シリーズ

名前2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018

Conference

Conference2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018
China
Shenzhen
期間18/10/2518/10/27

    フィンガープリント

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Optimization

これを引用

Yang, B. R., Lee, H., & Tanaka, E. (2019). Stable Posture Compensation Based on Zero-Moment Point Control Method for a Walking Assistance Apparatus. : 2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018 (pp. 286-291). [8612288] (2018 IEEE International Conference on Cyborg and Bionic Systems, CBS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CBS.2018.8612288