Basic Research on Power Assist Walking Leg Using Force/Velocity Control Strategies
In this paper, we intend to introduce a concept of power assist walking support system and a fundamental strategy of walking support using human-robot interaction force information. The work presented is developing a mechanism, which is in physical contact with the human body, with goal of decreasing human inner force / increasing human strength during a certain activities or for special groups, such as succor, care-worker, elderly people, soldier and fireman. There are several problems in this project. First, the structure problem is studied using Ergonomics. Second, robot must understand the user motion intention and planning of the legs. Then, a very important aspect of the problem, how to control the power assist walking system, is also investigated. And the system must be simple for user, i.e. the user should be able to manipulate the walking support system easily. Therefore, we tentatively propose a strategy using the human-robot interaction forces between the assistant walking legs and the human legs. The system is also expected to have powerful impacts on many applications during activities of daily life. Correlative experimental results are presented to show the effectiveness of the control strategies.
Power assist.Human-robot interaction. Force/Velocity.
Feng Chen Yong Yu Yunjian Ge Baoyuan Wu Jian Sun
Institute of Intelligent Machines Chinese Academy of Sciences Hefei, Anhui Province, China;Departmen Institute of Intelligent Machines Chinese Academy of Sciences Hefei, Anhui Province, China
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
701-706
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）