| Presentation | 2014-12-13 Online optimal gait generation for wearable robot based on user's motion Takayuki KATO, Takahiro KAGAWA, Yoji UNO, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In the control of a wearable robot, it is one of the significant probrems to support a motion based on user's intension. In this study, we propose a system that enables a user to continuously walk while changing a walking parameter of the robot according to the user's motion. To measure the user's motion, we developed a sensing walker with a laser range sensor. In addition, we developed an optimal gait pattern generator with walking parameters of speed and stride which are estimated by the measured user's motion. We carried out measurement experiments of walking motions with the developed walker, and verified that a sensing walker is effective as a human interface to estimate user's intention. Additionally, we conducted a performance test with the wearable robot WPAL with the proposed system, and comfirmed that the subject could walk continuously without falling or stumbling. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | wearable robot WPAL / human interface / laser range sensor / optimal gait pattern |
| Paper # | MBE2014-74 |
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| Conference Information | |
| Committee | MBE |
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| Conference Date | 2014/12/6(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
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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) | Online optimal gait generation for wearable robot based on user's motion |
| Sub Title (in English) | |
| Keyword(1) | wearable robot WPAL |
| Keyword(2) | human interface |
| Keyword(3) | laser range sensor |
| Keyword(4) | optimal gait pattern |
| 1st Author's Name | Takayuki KATO |
| 1st Author's Affiliation | Graduate School of Engineering, Nagoya University() |
| 2nd Author's Name | Takahiro KAGAWA |
| 2nd Author's Affiliation | Graduate School of Engineering, Nagoya University |
| 3rd Author's Name | Yoji UNO |
| 3rd Author's Affiliation | Graduate School of Engineering, Nagoya University |
| Date | 2014-12-13 |
| Paper # | MBE2014-74 |
| Volume (vol) | vol.114 |
| Number (no) | 361 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |