A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information

Feng Chen; Yong Yu; Yunjian Ge; Jian Sun; Baoyuan Wu

doi:10.1109/ROBIO.2006.340284

A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information

Feng Chen^*
, Yong Yu
, Yunjian Ge
, Jian Sun
, Baoyuan Wu

^*Corresponding author for this work

CAS - Institute of Intelligent Machines
University of Science and Technology of China
Kagoshima University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Publisher	IEEE Computer Society
Pages	654-659
Number of pages	6
ISBN (Print)	1424405718, 9781424405718
DOIs	https://doi.org/10.1109/ROBIO.2006.340284
Publication status	Published - 2006
Externally published	Yes
Event	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO 2007 - Kunming, China Duration: 17 Dec 2006 → 20 Dec 2006

Publication series

Name	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Conference

Conference	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO 2007
Country/Territory	China
City	Kunming
Period	17/12/06 → 20/12/06

Keywords

Force/velocity
Moment of inertia
PAWL

Access to Document

10.1109/ROBIO.2006.340284

Cite this

Chen, F., Yu, Y., Ge, Y., Sun, J., & Wu, B. (2006). A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information. In 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 (pp. 654-659). Article 4141943 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2006.340284

@inproceedings{b23cee064bdd4b95a8b10df24e63eddd,

title = "A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information",

abstract = "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.",

keywords = "Force/velocity, Moment of inertia, PAWL",

author = "Feng Chen and Yong Yu and Yunjian Ge and Jian Sun and Baoyuan Wu",

year = "2006",

doi = "10.1109/ROBIO.2006.340284",

language = "English",

isbn = "1424405718",

series = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

publisher = "IEEE Computer Society",

pages = "654--659",

booktitle = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

address = "United States",

note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO 2007 ; Conference date: 17-12-2006 Through 20-12-2006",

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Chen, F, Yu, Y, Ge, Y, Sun, J & Wu, B 2006, A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information. in 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006., 4141943, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, IEEE Computer Society, pp. 654-659, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO 2007, Kunming, China, 17/12/06. https://doi.org/10.1109/ROBIO.2006.340284

A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information. / Chen, Feng; Yu, Yong; Ge, Yunjian et al.
2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. IEEE Computer Society, 2006. p. 654-659 4141943 (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

PB - IEEE Computer Society

T2 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO 2007

Y2 - 17 December 2006 through 20 December 2006

ER -

Chen F, Yu Y, Ge Y, Sun J, Wu B. A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information. In 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. IEEE Computer Society. 2006. p. 654-659. 4141943. (2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006). doi: 10.1109/ROBIO.2006.340284

A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information

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Keywords

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