Gait analysis for a human with a robot walking helper

Chun Hsu Ko, Kuu-Young Young, Sunil K. Agrawal*

*Corresponding author for this work

研究成果: Conference contribution同行評審

摘要

With the growth of elderly population in our society, intelligent walking aids will play an important role in providing functional mobility to humans. In this paper, we propose a model to compute gait of humans walking with a robot helper. This model is aimed at designing a control system for the robot walking helper. The human model includes both the single support phase and impacts. Since a human will be walking along with the robot with its help, geometrical constraints and interaction forces are included. To achieve stable walking, zero moment point (ZMP) is utilized in the analysis and friction constraint is included within the reaction force from the ground. Simulations are performed to obtain optimal gait trajectories, the human applied joint torques, and the supporting forces from the robot walking helper.

原文English
主出版物標題Intelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
發行者Springer Verlag
頁面603-612
頁數10
版本VOL. 1
ISBN(列印)9783642339257
DOIs
出版狀態Published - 1 一月 2013
事件12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of
持續時間: 26 六月 201229 六月 2012

出版系列

名字Advances in Intelligent Systems and Computing
號碼VOL. 1
193 AISC
ISSN(列印)2194-5357

Conference

Conference12th International Conference on Intelligent Autonomous Systems, IAS 2012
國家Korea, Republic of
城市Jeju Island
期間26/06/1229/06/12

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