WPAL for human power assist during walking using pseudo-compliance control

Chen Feng; Yu Yong; Ge Yunjian; Sun Jian; Deng Xiaohong

doi:10.1109/ICMA.2007.4303888

WPAL for human power assist during walking using pseudo-compliance control

Chen Feng^*, Yu Yong, Ge Yunjian, Sun Jian, Deng Xiaohong

^*此作品的通讯作者

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

7 引用（Scopus）

摘要

The walking power assist leg (WPAL) is designed for normal human power augmentation during walking. WPAL tackles three fundamental problems. First, the architectural design is studied using Ergonomics. Second, WPAL must understand the user motion intention. Then, the control algorithm is also investigated. In order to make WPAL work smoothly and provide power assist for user, we proposed a method based on multi-sensor data fusion to understand the user motion intention. And, a control method of pseudo-compliance is also proposed. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.

源语言	英语
主期刊名	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
页	2172-2176
页数	5
DOI	https://doi.org/10.1109/ICMA.2007.4303888
出版状态	已出版 - 2007
已对外发布	是
活动	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, 中国期限: 5 8月 2007 → 8 8月 2007

出版系列

姓名	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

会议

会议	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
国家/地区	中国
市	Harbin
时期	5/08/07 → 8/08/07

访问文件

10.1109/ICMA.2007.4303888

其它文件与链接

链接到 Scopus 的出版物

引用此

Feng, C., Yong, Y., Yunjian, G., Jian, S., & Xiaohong, D. (2007). WPAL for human power assist during walking using pseudo-compliance control. 在 Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 (页码 2172-2176). 文章 4303888 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007). https://doi.org/10.1109/ICMA.2007.4303888

@inproceedings{6943d18553254189ac27ccc9b7467601,

title = "WPAL for human power assist during walking using pseudo-compliance control",

abstract = "The walking power assist leg (WPAL) is designed for normal human power augmentation during walking. WPAL tackles three fundamental problems. First, the architectural design is studied using Ergonomics. Second, WPAL must understand the user motion intention. Then, the control algorithm is also investigated. In order to make WPAL work smoothly and provide power assist for user, we proposed a method based on multi-sensor data fusion to understand the user motion intention. And, a control method of pseudo-compliance is also proposed. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.",

keywords = "Motion intention, Pseudo-compliance control, WPAL",

author = "Chen Feng and Yu Yong and Ge Yunjian and Sun Jian and Deng Xiaohong",

year = "2007",

doi = "10.1109/ICMA.2007.4303888",

language = "English",

isbn = "1424408288",

series = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",

pages = "2172--2176",

booktitle = "Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007",

note = "2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 ; Conference date: 05-08-2007 Through 08-08-2007",

}

Feng, C, Yong, Y, Yunjian, G, Jian, S & Xiaohong, D 2007, WPAL for human power assist during walking using pseudo-compliance control. 在 Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007., 4303888, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, 页码 2172-2176, 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, 中国, 5/08/07. https://doi.org/10.1109/ICMA.2007.4303888

WPAL for human power assist during walking using pseudo-compliance control. / Feng, Chen; Yong, Yu; Yunjian, Ge 等.
Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. 页码 2172-2176 4303888 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - WPAL for human power assist during walking using pseudo-compliance control

AU - Feng, Chen

AU - Yong, Yu

AU - Yunjian, Ge

AU - Jian, Sun

AU - Xiaohong, Deng

PY - 2007

Y1 - 2007

N2 - The walking power assist leg (WPAL) is designed for normal human power augmentation during walking. WPAL tackles three fundamental problems. First, the architectural design is studied using Ergonomics. Second, WPAL must understand the user motion intention. Then, the control algorithm is also investigated. In order to make WPAL work smoothly and provide power assist for user, we proposed a method based on multi-sensor data fusion to understand the user motion intention. And, a control method of pseudo-compliance is also proposed. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.

AB - The walking power assist leg (WPAL) is designed for normal human power augmentation during walking. WPAL tackles three fundamental problems. First, the architectural design is studied using Ergonomics. Second, WPAL must understand the user motion intention. Then, the control algorithm is also investigated. In order to make WPAL work smoothly and provide power assist for user, we proposed a method based on multi-sensor data fusion to understand the user motion intention. And, a control method of pseudo-compliance is also proposed. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.

KW - Motion intention

KW - Pseudo-compliance control

KW - WPAL

UR - http://www.scopus.com/inward/record.url?scp=37049026411&partnerID=8YFLogxK

U2 - 10.1109/ICMA.2007.4303888

DO - 10.1109/ICMA.2007.4303888

M3 - Conference contribution

AN - SCOPUS:37049026411

SN - 1424408288

SN - 9781424408283

T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

SP - 2172

EP - 2176

BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Y2 - 5 August 2007 through 8 August 2007

ER -

Feng C, Yong Y, Yunjian G, Jian S, Xiaohong D. WPAL for human power assist during walking using pseudo-compliance control. 在 Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. 页码 2172-2176. 4303888. (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007). doi: 10.1109/ICMA.2007.4303888

WPAL for human power assist during walking using pseudo-compliance control

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