NDLI: Development of a Power Assist System of a Walking Chair Based on Human Arm Characteristics

Content Provider	IEEE Xplore Digital Library
Author	Yunfeng Wu Nakamura, H. Takeda, Y. Higuchi, M. Sugimoto, K.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Sci. & Eng., Tokyo Inst. of Technol. (Yunfeng Wu; Nakamura, H.; Takeda, Y.; Higuchi, M.; Sugimoto, K.)
Abstract	In this paper, design of control system and power combination mechanism of a power assist system of the walking chair were discussed based on kinetostatic characteristics of human arm. The walking chair is a welfare walking machine which is an alternative vehicle of the wheelchair, and expected to be driven by user's cranking operation with assisting actuator. To efficiently utilize user's power as much as possible for long locomotion without giving much fatigue to the user while providing comfortable driving feeling to the user, the human arm characteristics were taken into consideration. Kinetostatic characteristics of human arm were experimentally investigated for its modeling. This model was applied to the design of mechanism and control system of the power assist system of the walking chair to provide a good driving feeling, and to reduce the fatigue and improve power efficiency
Starting Page	4328
Ending Page	4335
File Size	8409304
Page Count	8
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282005
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Humans Power system modeling Torque Control systems Leg Biological system modeling Wheelchairs Fatigue Power engineering and energy welfare machine engineering walking chair power assist system biomechanics man machine system
Content Type	Text
Resource Type	Article

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