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- ファン フン ホアン
- 東大
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- 神永 拓
- 東大
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- 田中 宏和
- 東大
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- 中村 仁彦
- 東大
書誌事項
- タイトル別名
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- 2A1-E08 Sensors Feedback Control of Electro-Hydrostatic Actuator Power Assist Device based on Phases of Human Gait using EMG signal and Velocity Positive Feedback(Wearable Robotics)
抄録
In order to enhance and strengthen human gait, the research of Wearable Robots has been prompted in recent years. Beside designing a suitable structure for Wearable Robot with a powerful, flexible and lightweight actuator, a proper control method is also required. In this paper, we present a control method for knee joint power assist device based on Human Gait's phases. In our method, human gait is divided into two phases: supporting and swinging phase, for each phase we design a different controller to suit its characteristics. At the supporting phase we recognize wearer's intention and estimate assist torque by using EMG signal, while at the swinging phase we use velocity positive feedback control to assist the wearer.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2011 (0), _2A1-E08_1-_2A1-E08_3, 2011
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205939382528
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- NII論文ID
- 110009692077
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可