Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators-Reference-Cited by-同舟云学术

Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators

Published:2013-12-20 Issue:6 Volume:25 Page:915-922
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Sato Motonobu, ,Yagi Eiichi,Sano Kazuo,

Abstract

This paper describes a method for power assist control that calculates the joint torques necessary to support an assist suit wearer’s walking. We approximate the body using a multijoint rigid link model. Joint support torques are calculated based on this model using the hip, knee and ankle angles of the wearer. Results of experiments show the effectiveness of proposed control method.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference16 articles.

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