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- Publisher Website: 10.1007/978-3-540-92841-6_559
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Conference Paper: Motion Control of Walking Assist Robot System Based on Human Model
Title | Motion Control of Walking Assist Robot System Based on Human Model |
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Authors | |
Keywords | Walking Assist Robot System Estimation of Human States Human Model |
Issue Date | 2009 |
Publisher | Springer. |
Citation | 13th International Conference on Biomedical Engineering (ICBME 2008), Singapore, 3-6 December 2008. In 13th International Conference on Biomedical Engineering: ICBME 2008, 3–6 December 2008, Singapore, p. 2232-2236. Berlin: Springer, 2009 How to Cite? |
Abstract | In this paper, we introduce walking assist robot systems for the elderly people to manage the independent living over a long period of time in serious aging society. This research especially focuses on the motion control method of the walking assist robot systems based on the human linkage model calculated in real time. According to the human linkage model, the robot systems could calculate a position of the user's center of gravity and the joint moment applied around the each joint of the user in real time. Based on the information of the user, the robot systems could support the walking appropriately. The motion control algorithms based on the human model are implemented to the walker-type walking assist system and the wearable walking assist system experimentally, and experimental results illustrate the validity of the proposed methods. © 2009 International Federation of Medical and Biological Engineering. |
Persistent Identifier | http://hdl.handle.net/10722/302891 |
ISBN | |
ISSN | 2023 SCImago Journal Rankings: 0.137 |
ISI Accession Number ID | |
Series/Report no. | IFMBE Proceedings ; 23 |
DC Field | Value | Language |
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dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Komatsuda, Shinji | - |
dc.contributor.author | Iwano, Takuya | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:46Z | - |
dc.date.available | 2021-09-07T08:42:46Z | - |
dc.date.issued | 2009 | - |
dc.identifier.citation | 13th International Conference on Biomedical Engineering (ICBME 2008), Singapore, 3-6 December 2008. In 13th International Conference on Biomedical Engineering: ICBME 2008, 3–6 December 2008, Singapore, p. 2232-2236. Berlin: Springer, 2009 | - |
dc.identifier.isbn | 9783540928409 | - |
dc.identifier.issn | 1680-0737 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302891 | - |
dc.description.abstract | In this paper, we introduce walking assist robot systems for the elderly people to manage the independent living over a long period of time in serious aging society. This research especially focuses on the motion control method of the walking assist robot systems based on the human linkage model calculated in real time. According to the human linkage model, the robot systems could calculate a position of the user's center of gravity and the joint moment applied around the each joint of the user in real time. Based on the information of the user, the robot systems could support the walking appropriately. The motion control algorithms based on the human model are implemented to the walker-type walking assist system and the wearable walking assist system experimentally, and experimental results illustrate the validity of the proposed methods. © 2009 International Federation of Medical and Biological Engineering. | - |
dc.language | eng | - |
dc.publisher | Springer. | - |
dc.relation.ispartof | 13th International Conference on Biomedical Engineering: ICBME 2008, 3–6 December 2008, Singapore | - |
dc.relation.ispartofseries | IFMBE Proceedings ; 23 | - |
dc.subject | Walking Assist Robot System | - |
dc.subject | Estimation of Human States | - |
dc.subject | Human Model | - |
dc.title | Motion Control of Walking Assist Robot System Based on Human Model | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1007/978-3-540-92841-6_559 | - |
dc.identifier.scopus | eid_2-s2.0-84867195870 | - |
dc.identifier.spage | 2232 | - |
dc.identifier.epage | 2236 | - |
dc.identifier.isi | WOS:000268245600559 | - |
dc.publisher.place | Berlin | - |