Walking support by wearable system based on the spring-mass model
Walking support by wearable system based on the spring-mass model
复制标题
DOI：
10.1109/aim.2014.6878093
复制
发表时间：
2014-07
期刊：
影响因子：
--
通讯作者：
Shinji Suzuki;Y. Hirata;K. Kosuge
中科院分区：
文献类型：
--
作者：
Shinji Suzuki;Y. Hirata;K. Kosuge
已经开发了行走支撑系统，并且已经提出了各种支撑方法来支撑老年人和身体残疾人的运动。在这项研究中，我们提出了一种基于弹簧质量模型的步行支持方法。虽然弹簧-质量模型非常简单，但使用该模型在计算机仿真上再现了行走过程中的人体运动。在站立阶段，我们用可穿戴式行走支撑系统支撑使用者的腿部肌肉，以补偿站立腿施加到上身的一部分力。在摆动阶段，我们考虑使用基于阻抗控制的轨迹跟踪方法来支持用户的腿部运动。将该方法应用于可穿戴式步行辅助器，实验结果表明了该方法对健康受试者的有效性。
Walking support systems have been developed and various support methods have been proposed for supporting the motion of the elderly and physically disabled. In this research, we propose a walking support method based on the spring-mass model. Although the spring-mass model is very simple, the human motion during the walking is reproduced on the computer simulation using this model. In the stance phase, we support the user's leg muscle compensating a part of the force applied to the upper body by the stance leg with the wearable-type walking support system. In the swing phase, we consider supporting the leg motion of the user using the trajectory following method based on the impedance control. The proposed method is applied to the wearable walking helper, and experimental results illustrate the validity for healthy subjects.