Paper Abstract and Keywords |
Presentation |
2010-12-19 10:30
Sensor and control systems of a walking-assist robot for walking on a step Yuki Oda, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) MBE2010-55 NC2010-66 |
Abstract |
(in Japanese) |
(See Japanese page) |
(in English) |
In this study, our goal is to walk on a step with a wearable walking-assist robot for paraplegic patients. We propose a man-machine interface to walk on a step for the robot and a generation method of gait patterns. The existence of a bump and its height are detected by angle of a walker when the anterior legs of the walker move on the bump. Then the trajectory of the robot toe is generated according to the height so that the robot foot should not collide with the bump. In addition, gait patterns are generated with the optimization technique to minimize the sum total of joint angular jerk of the robot while walking. We confirmed the effectiveness of the proposed method through implementing our method into the robot and conducting walking experiments for a 3-centimeters-high bump. |
Keyword |
(in Japanese) |
(See Japanese page) |
(in English) |
Walking-assist robot / Bump / Man-machine interface / Gait pattern / / / / |
Reference Info. |
IEICE Tech. Rep., vol. 110, no. 354, MBE2010-55, pp. 1-6, Dec. 2010. |
Paper # |
MBE2010-55 |
Date of Issue |
2010-12-12 (MBE, 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) |
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MBE2010-55 NC2010-66 |
Conference Information |
Committee |
NC MBE |
Conference Date |
2010-12-19 - 2010-12-19 |
Place (in Japanese) |
(See Japanese page) |
Place (in English) |
Nagoya Univ. |
Topics (in Japanese) |
(See Japanese page) |
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Paper Information |
Registration To |
MBE |
Conference Code |
2010-12-NC-MBE |
Language |
Japanese |
Title (in Japanese) |
(See Japanese page) |
Sub Title (in Japanese) |
(See Japanese page) |
Title (in English) |
Sensor and control systems of a walking-assist robot for walking on a step |
Sub Title (in English) |
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Keyword(1) |
Walking-assist robot |
Keyword(2) |
Bump |
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Man-machine interface |
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Gait pattern |
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1st Author's Name |
Yuki Oda |
1st Author's Affiliation |
Nagoya University (Nagoya Univ.) |
2nd Author's Name |
Takahiro Kagawa |
2nd Author's Affiliation |
Nagoya University (Nagoya Univ.) |
3rd Author's Name |
Yoji Uno |
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Nagoya University (Nagoya Univ.) |
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Speaker |
Author-1 |
Date Time |
2010-12-19 10:30:00 |
Presentation Time |
25 minutes |
Registration for |
MBE |
Paper # |
MBE2010-55, NC2010-66 |
Volume (vol) |
vol.110 |
Number (no) |
no.354(MBE), no.355(NC) |
Page |
pp.1-6 |
#Pages |
6 |
Date of Issue |
2010-12-12 (MBE, NC) |
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