Walking support by wearable system based on the spring-mass model

Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

研究成果: 書籍の章/レポート/Proceedings会議への寄与査読

4 被引用数 (Scopus)

抄録

Walking support systems have been developed and various support methods have been proposed for supporting the motion of the elderly and physically disabled. In this research, we propose a walking support method based on the spring-mass model. Although the spring-mass model is very simple, the human motion during the walking is reproduced on the computer simulation using this model. In the stance phase, we support the user's leg muscle compensating a part of the force applied to the upper body by the stance leg with the wearable-type walking support system. In the swing phase, we consider supporting the leg motion of the user using the trajectory following method based on the impedance control. The proposed method is applied to the wearable walking helper, and experimental results illustrate the validity for healthy subjects.

本文言語英語
ホスト出版物のタイトルAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ285-290
ページ数6
ISBN(印刷版)9781479957361
DOI
出版ステータス出版済み - 2014
イベント2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, フランス
継続期間: 2014 7月 82014 7月 11

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

会議

会議2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
国/地域フランス
CityBesancon
Period14/7/814/7/11

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