歩行補助ロボットのつまずきに対応するセンサ制御系の開発

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  • ホコウ ホジョ ロボット ノ ツマズキ ニ タイオウ スル センサ セイギョケイ ノ カイハツ
  • Development of Sensor Control Systems Corresponding to the Stumble Recovery during Walking with a Wearable Robot

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Abstract

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.

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