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Paper Abstract and Keywords
Presentation 2012-03-15 10:15
Development of Sensor Control Systems Corresponding to the Stumble Recovery during Walking with a Wearable Robot
Guangyu Zhou, Takahiro Kagawa, Yoji Uno (Nagoya Univ.) MBE2011-123
Abstract (in Japanese) (See Japanese page) 
(in English) 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.
Keyword (in Japanese) (See Japanese page) 
(in English) Wearable robot / Ground reaction force / Stumble recovery / / / / /  
Reference Info. IEICE Tech. Rep., vol. 111, no. 482, MBE2011-123, pp. 83-88, March 2012.
Paper # MBE2011-123 
Date of Issue 2012-03-07 (MBE) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
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reproduction
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF MBE2011-123

Conference Information
Committee MBE NC  
Conference Date 2012-03-14 - 2012-03-16 
Place (in Japanese) (See Japanese page) 
Place (in English) Tamagawa University 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To MBE 
Conference Code 2012-03-MBE-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Development of Sensor Control Systems Corresponding to the Stumble Recovery during Walking with a Wearable Robot 
Sub Title (in English)  
Keyword(1) Wearable robot  
Keyword(2) Ground reaction force  
Keyword(3) Stumble recovery  
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1st Author's Name Guangyu Zhou  
1st Author's Affiliation Nagoya University (Nagoya Univ.)
2nd Author's Name Takahiro Kagawa  
2nd Author's Affiliation Nagoya University (Nagoya Univ.)
3rd Author's Name Yoji Uno  
3rd Author's Affiliation Nagoya University (Nagoya Univ.)
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Speaker Author-1 
Date Time 2012-03-15 10:15:00 
Presentation Time 25 minutes 
Registration for MBE 
Paper # MBE2011-123 
Volume (vol) vol.111 
Number (no) no.482 
Page pp.83-88 
#Pages
Date of Issue 2012-03-07 (MBE) 


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