In this paper, we propose a wearable antigravity muscles support device, referred to as Wearable Walking Helper, for supporting antigravity muscles on lower extremities, and a model-based control algorithm for the device without using biological signals. In this algorithm, the supporting knee joint moment is calculated based on the antigravity term of necessary knee joint moment, which is estimated based on a human approximated model. The control system is implemented in the Wearable Walking Helper and experimental results illustrate the potential of the proposed system.
|Number of pages||6|
|Journal||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|Publication status||Published - 2005 Feb|
- Human Engineering
- Muscle and Skelton
- Walking Support