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Article: 床反力と人体モデルに基づいた装着型歩行支援システム
| Title | 床反力と人体モデルに基づいた装着型歩行支援システム Wearable walking support system based on GRF and human model |
|---|---|
| Authors | |
| Keywords | Wearable Robot Muscle and skelton Human engineering Walking support |
| Issue Date | 2006 |
| Citation | 日本機械学会論文集Ｃ編, 2006, v. 72, n. 720, p. 2562-2567 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 2006, v. 72, n. 720, p. 2562-2567 How to Cite? |
| Abstract | In this paper, we propose a new algorithm, referred to as the Model-based control algorithm for Anti-Gravity Muscles Assist with Ground Reaction Force feedback, to control a wearable waking support system. In this algorithm, the joint support moment of human is calculated based on the term of the antigravity and the ground reaction force of necessary joint moment of human, which is estimated based on the dynamics of a human approximated model. The algorithm is implemented in a wearable walking support device, referred to as Wearable Walking Helper-II and experimental results illustrate the potential of the proposed system. |
| Persistent Identifier | http://hdl.handle.net/10722/302760 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Nakamura, Takahiko | - |
| dc.contributor.author | Saito, Kazunari | - |
| dc.contributor.author | Wang, Zhi Dong | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:32Z | - |
| dc.date.available | 2021-09-07T08:42:32Z | - |
| dc.date.issued | 2006 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 2006, v. 72, n. 720, p. 2562-2567 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 2006, v. 72, n. 720, p. 2562-2567 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302760 | - |
| dc.description.abstract | In this paper, we propose a new algorithm, referred to as the Model-based control algorithm for Anti-Gravity Muscles Assist with Ground Reaction Force feedback, to control a wearable waking support system. In this algorithm, the joint support moment of human is calculated based on the term of the antigravity and the ground reaction force of necessary joint moment of human, which is estimated based on the dynamics of a human approximated model. The algorithm is implemented in a wearable walking support device, referred to as Wearable Walking Helper-II and experimental results illustrate the potential of the proposed system. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Wearable | - |
| dc.subject | Robot | - |
| dc.subject | Muscle and skelton | - |
| dc.subject | Human engineering | - |
| dc.subject | Walking support | - |
| dc.title | 床反力と人体モデルに基づいた装着型歩行支援システム | - |
| dc.title | Wearable walking support system based on GRF and human model | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.72.2562 | - |
| dc.identifier.scopus | eid_2-s2.0-33750732639 | - |
| dc.identifier.volume | 72 | - |
| dc.identifier.issue | 720 | - |
| dc.identifier.spage | 2562 | - |
| dc.identifier.epage | 2567 | - |