| Presentation | 2012-03-15 Development of Sensor Control Systems Corresponding to the Stumble Recovery during Walking with a Wearable Robot Guangyu ZHOU, Takahiro KAGAWA, Yoji UNO, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We develop a control system of a wearable robot to recover balance from a stumble. Patterns of stumble recovery response depend on the timing of the disturbance. In the proposed method, firstly, a collision of an obstacle is detected by the signals from a sensor of ground reaction force (GRF) of the robot. Then the recovery motion based on human recovery response is performed. For the stumble in the late movement, the recovery pattern is generated to lowering trajectory. On the other hand, for the stumble in the early movement, the recovery pattern is generated to elevating trajectory. Experiments of walking with WPAL demonstrated that the proposed method is effectiveness for prevention of emergency stop by the over-current protection. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Wearable robot / Ground reaction force / Stumble recovery |
| Paper # | MBE2011-123 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2012/3/7(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
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| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Development of Sensor Control Systems Corresponding to the Stumble Recovery during Walking with a Wearable Robot |
| Sub Title (in English) | |
| Keyword(1) | Wearable robot |
| Keyword(2) | Ground reaction force |
| Keyword(3) | Stumble recovery |
| 1st Author's Name | Guangyu ZHOU |
| 1st Author's Affiliation | Nagoya University() |
| 2nd Author's Name | Takahiro KAGAWA |
| 2nd Author's Affiliation | Nagoya University |
| 3rd Author's Name | Yoji UNO |
| 3rd Author's Affiliation | Nagoya University |
| Date | 2012-03-15 |
| Paper # | MBE2011-123 |
| Volume (vol) | vol.111 |
| Number (no) | 482 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |