TY - JOUR
T1 - Model-based wearable antigravity muscles support system for leg
AU - Nakamura, Takahiko
AU - Kosuge, Kazuhiro
AU - Hirata, Yasuhisa
PY - 2005/2
Y1 - 2005/2
N2 - 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.
AB - 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.
KW - Human Engineering
KW - Muscle and Skelton
KW - Robot
KW - Walking Support
KW - Wearable
UR - http://www.scopus.com/inward/record.url?scp=18344376752&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=18344376752&partnerID=8YFLogxK
U2 - 10.1299/kikaic.71.618
DO - 10.1299/kikaic.71.618
M3 - Article
AN - SCOPUS:18344376752
SN - 0387-5024
VL - 71
SP - 618
EP - 623
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 2
ER -