TY - GEN
T1 - A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information
AU - Chen, Feng
AU - Yu, Yong
AU - Ge, Yunjian
AU - Sun, Jian
AU - Wu, Baoyuan
PY - 2006
Y1 - 2006
N2 - A power assist walking leg is designed for enhancing strength and endurance during walking, it can be also applied to one whose legs are injured or who has difficulty in walking because of aging, paralysis and amputation. In this paper, we intend to introduce a concept of power assist walking support system and its fundamental control strategy using the information of human-robot interaction force. The whole system must be simple for user, i.e. the user can manipulate the walking support system easily. In order to make the system work smoothly, it must understand the user's intent through human-robot interaction force and the joint angle. Therefore, we propose tentatively a strategy using human-robot interaction force between the assist walking exoskeleton and human legs. Correlative experimental results show the effectiveness of the control strategies.
AB - A power assist walking leg is designed for enhancing strength and endurance during walking, it can be also applied to one whose legs are injured or who has difficulty in walking because of aging, paralysis and amputation. In this paper, we intend to introduce a concept of power assist walking support system and its fundamental control strategy using the information of human-robot interaction force. The whole system must be simple for user, i.e. the user can manipulate the walking support system easily. In order to make the system work smoothly, it must understand the user's intent through human-robot interaction force and the joint angle. Therefore, we propose tentatively a strategy using human-robot interaction force between the assist walking exoskeleton and human legs. Correlative experimental results show the effectiveness of the control strategies.
KW - Force/velocity
KW - Moment of inertia
KW - PAWL
UR - https://www.scopus.com/pages/publications/46249092598
U2 - 10.1109/ROBIO.2006.340284
DO - 10.1109/ROBIO.2006.340284
M3 - Conference contribution
AN - SCOPUS:46249092598
SN - 1424405718
SN - 9781424405718
T3 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
SP - 654
EP - 659
BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Y2 - 17 December 2006 through 20 December 2006
ER -