Control of Wearable Walking Support System Based on Human-Model and GRF
Control of Wearable Walking Support System Based on Human-Model and GRF
复制标题
基于人体模型和GRF的可穿戴步行支撑系统控制
DOI：
10.1109/robot.2005.1570796
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
K. Kosuge
中科院分区：
文献类型：
--
作者：
Takahiko Nakamura;Kazunari Saito;K. Kosuge
本文提出了一种可穿戴式步行支撑系统，用于下肢无力而行走困难的人。我们提出了一种不使用生物信号的基于模型的可穿戴设备控制算法，即根据所需膝关节力矩的重力项和GRF项，计算膝关节支撑力矩作为用户姿势和GRF的函数，基于人体模型估计。该控制算法是在可穿戴步行支持设备，被称为可穿戴步行助手-II，用于支持下肢反重力肌肉，实验结果说明了所提出的系统的潜力。
In this paper, a wearable walking support system for people who have difficulties in walking because of weakened lower extremities is proposed. We propose a model-based control algorithm for the wearable device without using biological signals, that is, the knee joint support moment is calculated as a function of the user’s posture and the GRF based on the gravity term and GRF term of the necessary knee joint moment, which is estimated based on a human model. The control algorithm is implemented in the wearable walking support device, referred to as Wearable Walking Helper-II, for supporting antigravity muscles on lower extremities, and experimental results illustrate the potential of the proposed system.