| IEICE Technical Committee Submission System Conference Paper's Information |
Online Proceedings [Sign in] Tech. Rep. Archives |
| Go Top Page | Go Previous | [Japanese] / [English] |
| Paper Abstract and Keywords | ||
| Presentation | 2010-03-09 18:05 Proposal of a P-E Hybrid Exoskeleton Robot for Walking and Postural Rehabilitation Sang-Ho Hyon, Jun Morimoto (ATR), Go Shirogauchi (Active Link), Yoshihiro Mori (Mori Co., Ltd.), Harutsugu Mizui (Sankyoku Co., Ltd.), Mitsuo Kawato (ATR)  NC2009-115 |
|
| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | We propose a novel exoskeleton robot aimed at rehabilitation on biped walking or postural control for elderly persons, spinal cord injury, or stroke patients. By combining pneumatic muscles with electric motors, the robot works not only as a lightweight, torque controllable prosthesis for lower extremities and trunk, but also an autonomous robot that can compliantly balance itself. This paper repots the hardware overview of the new robot and describes a model identification method which utilizes the characteristics of the hybrid drive under simple full-body force control. Some fundamental experiments on its joint drive testbed are also presented. |
|
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Exoskeleton robot / BMI / Rehabilitation / Motor control / Model estimation / Air muscle / Postural control / Biped walking | |
| Reference Info. | IEICE Tech. Rep., vol. 109, no. 461, NC2009-115, pp. 161-166, March 2010. | |
| Paper # | NC2009-115 | |
| Date of Issue | 2010-03-02 (NC) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | NC2009-115 |
|
| Conference Information | |
| Committee | NC MBE |
| Conference Date | 2010-03-09 - 2010-03-11 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Tamagawa University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | General |
| Paper Information | |
| Registration To | NC |
| Conference Code | 2010-03-NC-MBE |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Proposal of a P-E Hybrid Exoskeleton Robot for Walking and Postural Rehabilitation |
| Sub Title (in English) | |
| Keyword(1) | Exoskeleton robot |
| Keyword(2) | BMI |
| Keyword(3) | Rehabilitation |
| Keyword(4) | Motor control |
| Keyword(5) | Model estimation |
| Keyword(6) | Air muscle |
| Keyword(7) | Postural control |
| Keyword(8) | Biped walking |
| 1st Author's Name | Sang-Ho Hyon |
| 1st Author's Affiliation | Advanced Telecommunication Research Institute (ATR) |
| 2nd Author's Name | Jun Morimoto |
| 2nd Author's Affiliation | Advanced Telecommunication Research Institute (ATR) |
| 3rd Author's Name | Go Shirogauchi |
| 3rd Author's Affiliation | Active Link Co., Ltd. (Active Link) |
| 4th Author's Name | Yoshihiro Mori |
| 4th Author's Affiliation | Mori Co., Ltd. (Mori Co., Ltd.) |
| 5th Author's Name | Harutsugu Mizui |
| 5th Author's Affiliation | Sankyoku Co., Ltd. (Sankyoku Co., Ltd.) |
| 6th Author's Name | Mitsuo Kawato |
| 6th Author's Affiliation | Advanced Telecommunication Research Institute (ATR) |
| 7th Author's Name | |
| 7th Author's Affiliation | () |
| 8th Author's Name | |
| 8th Author's Affiliation | () |
| 9th Author's Name | |
| 9th Author's Affiliation | () |
| 10th Author's Name | |
| 10th Author's Affiliation | () |
| 11th Author's Name | |
| 11th Author's Affiliation | () |
| 12th Author's Name | |
| 12th Author's Affiliation | () |
| 13th Author's Name | |
| 13th Author's Affiliation | () |
| 14th Author's Name | |
| 14th Author's Affiliation | () |
| 15th Author's Name | |
| 15th Author's Affiliation | () |
| 16th Author's Name | |
| 16th Author's Affiliation | () |
| 17th Author's Name | |
| 17th Author's Affiliation | () |
| 18th Author's Name | |
| 18th Author's Affiliation | () |
| Speaker | Author-1 |
| Date Time | 2010-03-09 18:05:00 |
| Presentation Time | 25 minutes |
| Registration for | NC |
| Paper # | NC2009-115 |
| Volume (vol) | vol.109 |
| Number (no) | no.461 |
| Page | pp.161-166 |
| #Pages | 6 |
| Date of Issue | 2010-03-02 (NC) |
[Return to Top Page]