NDLI: Motion control of Wearable Walking support system with accelerometer considering swing phase support

Content Provider	IEEE Xplore Digital Library
Author	Hirata, Y. Iwano, T. Tajika, M. Kosuge, K.
Copyright Year	2008
Description	Author affiliation: Dept. of Bioeng. & Robot., Tohoku Univ., Sendai (Hirata, Y.; Iwano, T.; Tajika, M.; Kosuge, K.)
Abstract	In this paper, we propose a method for supporting a walking of a human by using wearable walking support system called wearable walking helper. In this method, the support moment for the knee joint of the user is calculated by the human model and a part of it is supported by the actuator of the wearable walking helper. In the conventional method we proposed so far, we only consider the stance phase of the gait which requires a large moment of the knee joint in walking for supporting the weight of the user. In this paper, we especially focus on the support of the swing phase of the gait which requires a moment of knee joint for supporting not only the weight of the leg but also the weight of the wearable walking helper itself. For realizing the swing phase support, we measure an inclination of the upper body of the user with respect to the vertical direction by using the accelerometer and apply it to the calculation method using human model for deriving the support moment of the knee joint. The proposed method is applied to the wearable walking helper experimentally and the experimental results illustrate the validity of the proposed method.
Starting Page	322
Ending Page	327
File Size	1392529
Page Count	6
File Format	PDF
ISBN	9781424422128
DOI	10.1109/ROMAN.2008.4600686
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-08-01
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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