WPAL for enhancing human strength and endurance during walking

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

doi:10.1109/ICIA.2007.4295782

WPAL for enhancing human strength and endurance during walking

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

^*Corresponding author for this work

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

18 Citations (Scopus)

Abstract

In this paper, we intend to introduce a concept of power assist system - walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn't affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand the user motion intention, and a control method of pseudo-compliance. 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.

Original language	English
Title of host publication	2007 International Conference on Information Acquisition, ICIA
Pages	487-491
Number of pages	5
DOIs	https://doi.org/10.1109/ICIA.2007.4295782
Publication status	Published - 2007
Externally published	Yes
Event	International Conference on Information Acquisition, ICIA 2007 - Jeju City, Korea, Republic of Duration: 9 Jul 2007 → 11 Jul 2007

Publication series

Name	Proceedings of the 2007 International Conference on Information Acquisition, ICIA

Conference

Conference	International Conference on Information Acquisition, ICIA 2007
Country/Territory	Korea, Republic of
City	Jeju City
Period	9/07/07 → 11/07/07

Keywords

Motion intention
Simplified limb model
WPAL

Access to Document

10.1109/ICIA.2007.4295782

Cite this

@inproceedings{61df18f5283b4a55a66eabd721100ddb,

title = "WPAL for enhancing human strength and endurance during walking",

abstract = "In this paper, we intend to introduce a concept of power assist system - walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn't affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand the user motion intention, and a control method of pseudo-compliance. 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, Simplified limb model, WPAL",

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

year = "2007",

doi = "10.1109/ICIA.2007.4295782",

language = "English",

isbn = "1424412196",

series = "Proceedings of the 2007 International Conference on Information Acquisition, ICIA",

pages = "487--491",

booktitle = "2007 International Conference on Information Acquisition, ICIA",

note = "International Conference on Information Acquisition, ICIA 2007 ; Conference date: 09-07-2007 Through 11-07-2007",

}

Chen, F, Yu, Y, Ge, Y, Sun, J & Deng, X 2007, WPAL for enhancing human strength and endurance during walking. in 2007 International Conference on Information Acquisition, ICIA., 4295782, Proceedings of the 2007 International Conference on Information Acquisition, ICIA, pp. 487-491, International Conference on Information Acquisition, ICIA 2007, Jeju City, Korea, Republic of, 9/07/07. https://doi.org/10.1109/ICIA.2007.4295782

WPAL for enhancing human strength and endurance during walking. / Chen, Feng; Yu, Yong; Ge, Yunjian et al.
2007 International Conference on Information Acquisition, ICIA. 2007. p. 487-491 4295782 (Proceedings of the 2007 International Conference on Information Acquisition, ICIA).

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

TY - GEN

T1 - WPAL for enhancing human strength and endurance during walking

AU - Chen, Feng

AU - Yu, Yong

AU - Ge, Yunjian

AU - Sun, Jian

AU - Deng, Xiaohong

PY - 2007

Y1 - 2007

N2 - In this paper, we intend to introduce a concept of power assist system - walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn't affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand the user motion intention, and a control method of pseudo-compliance. 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 - In this paper, we intend to introduce a concept of power assist system - walking power assist leg (WPAL), which is designed for human power augmentation. WPAL is designed according as Ergonomics and the premise is that the system doesn't affect user walking freely. To make the system work smoothly and provide power assist for user, we proposed a method based on human-robot interaction force to understand the user motion intention, and a control method of pseudo-compliance. 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 - Simplified limb model

KW - WPAL

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U2 - 10.1109/ICIA.2007.4295782

DO - 10.1109/ICIA.2007.4295782

M3 - Conference contribution

AN - SCOPUS:47349110050

SN - 1424412196

SN - 9781424412198

T3 - Proceedings of the 2007 International Conference on Information Acquisition, ICIA

SP - 487

EP - 491

BT - 2007 International Conference on Information Acquisition, ICIA

T2 - International Conference on Information Acquisition, ICIA 2007

Y2 - 9 July 2007 through 11 July 2007

ER -

WPAL for enhancing human strength and endurance during walking

Abstract

Publication series

Conference

Keywords

Access to Document

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