An approach to walking assist control by a multi-legged system in human gait motion

Chuan Yang, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Lacking in adequate care for the elders, especially those who are walking with inconvenience is becoming a growing problem for the aging society. The elders who walk with inconvenience, once they fall down, it is very dangerous. It is also necessary for the elders to exercise walking in order to keep normal social life. Many kinds of walking aids have been developed, but most of them are fail to avoid the elders' falling down problem which is an important issue for aged care. So far, there are few researches focusing on the walking cooperation between human and legged robot. The Inertial Measurement Unit (IMU) contains a triaxial (3-D) accelerometer, a triaxial gyro (angular rate sensor) and a triaxial magnetometer, and consequently in this paper, one IMU sensor fixed near the elder's waist to measure the posture is proposed in case that the elders fall down. Two short encoder links tied on human two legs can measure the rotate angles of thign and supply the command to the proposed device. To make human feel comfortable under various situation, impedance control is also employed in this system. The performance of the approach proposed in this paper has been examined by experiments.

Original languageEnglish
Title of host publicationProceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5236-5241
Number of pages6
ISBN (Print)9781479940325
DOIs
Publication statusPublished - 2014 Feb 24
Event40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014 - Dallas, United States
Duration: 2014 Oct 302014 Nov 1

Other

Other40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014
CountryUnited States
CityDallas
Period14/10/3014/11/1

Fingerprint

Units of measurement
Sensors
Magnetometers
Accelerometers
Aging of materials
Robots
Experiments

Keywords

  • Avoid falling down
  • Human motion
  • IMU sensor
  • Multi-Legged system device

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Yang, C., & Murakami, T. (2014). An approach to walking assist control by a multi-legged system in human gait motion. In Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society (pp. 5236-5241). [7049298] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2014.7049298

An approach to walking assist control by a multi-legged system in human gait motion. / Yang, Chuan; Murakami, Toshiyuki.

Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2014. p. 5236-5241 7049298.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yang, C & Murakami, T 2014, An approach to walking assist control by a multi-legged system in human gait motion. in Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society., 7049298, Institute of Electrical and Electronics Engineers Inc., pp. 5236-5241, 40th Annual Conference of the IEEE Industrial Electronics Society, IECON 2014, Dallas, United States, 14/10/30. https://doi.org/10.1109/IECON.2014.7049298
Yang C, Murakami T. An approach to walking assist control by a multi-legged system in human gait motion. In Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2014. p. 5236-5241. 7049298 https://doi.org/10.1109/IECON.2014.7049298
Yang, Chuan ; Murakami, Toshiyuki. / An approach to walking assist control by a multi-legged system in human gait motion. Proceedings, IECON 2014 - 40th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 5236-5241
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