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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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.
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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
Conference Date 2014/12/6(1days)
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Paper Information
Registration To ME and Bio Cybernetics (MBE)
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