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

^*Corresponding author for this work

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

7 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages	2172-2176
Number of pages	5
DOIs	https://doi.org/10.1109/ICMA.2007.4303888
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China Duration: 5 Aug 2007 → 8 Aug 2007

Publication series

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

Conference

Conference	2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Country/Territory	China
City	Harbin
Period	5/08/07 → 8/08/07

Keywords

Motion intention
Pseudo-compliance control
WPAL

Access to Document

10.1109/ICMA.2007.4303888

Cite this

Feng, C., Yong, Y., Yunjian, G., Jian, S., & Xiaohong, D. (2007). WPAL for human power assist during walking using pseudo-compliance control. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 (pp. 2172-2176). Article 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. in 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, pp. 2172-2176, 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, China, 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 et al.
Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. p. 2172-2176 4303888 (Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007).

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

TY - GEN

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AU - Feng, Chen

AU - Yong, Yu

AU - Yunjian, Ge

AU - Jian, Sun

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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.

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KW - Pseudo-compliance control

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Feng C, Yong Y, Yunjian G, Jian S, Xiaohong D. WPAL for human power assist during walking using pseudo-compliance control. In Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. 2007. p. 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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