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 and 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) |
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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) |
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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 |
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Wearable robot |
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Ground reaction force |
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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 |
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Nagoya University (Nagoya Univ.) |
3rd Author's Name |
Yoji Uno |
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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 |
6 |
Date of Issue |
2012-03-07 (MBE) |