@inproceedings{6f95387467b849d185f5cc5fecbe458f,
title = "Sensorless power assistance control for a lumbar assist device",
abstract = "This paper presents a sensorless control for human's lumbar power assistance by our developed lumbar assist device (LAD). The proposed sensorless control is realized by a disturbance observer and an extended admittance model. The disturbance observer is developed to estimate the torque that the wearer applies to the lumbar assist device, and the extended admittance model is adopted to generate the target angular velocity of the lumbar assist device. The power assistance experiments with our LAD are conducted. The effect of the power assistance evaluated by EMG signal and heart rate shows that the wearer's burden is decreased by about 8% and 10%, respectively. These results show that the proposed sensorless control for lumbar power assistance is effective.",
keywords = "Disturbance observer, Lumbar assist device, Power assistance, Sensorless control",
author = "Naoyuki Ogawa and Weimin Zhang and Yasuyuki Shibusawa and Naoki Tago and Koei Deguchi and Yusuke Ueta and Taiki Watanabe and Tsuyoshi Kaneko and Peirang Li and Chang Liu and Hongbo Liang and Naoya Ueda and Chi Zhu",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",
year = "2019",
month = dec,
doi = "10.1109/ROBIO49542.2019.8961796",
language = "English",
series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "309--314",
booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
address = "United States",
}