Walking assistance system for walking stability by using human motion information

Seonghye Kim; Kiichi Hirota; Takahiro Nozaki; Toshiyuki Murakami

doi:10.1109/ICMECH.2017.7921110

Walking assistance system for walking stability by using human motion information

Seonghye Kim, Kiichi Hirota, Takahiro Nozaki, Toshiyuki Murakami

Department of System Design Engineering

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

2 Citations (Scopus)

Abstract

In an aging society, most of walking assistance device has been researched in an aspect of augmentation system which assists the human walking by torque enough. However the user depends on the performance of assistance device without the independent reliance. Therefore we researched the compensation system which offers the minimum torque required during the human walking. Furthermore the stability of mutual human-device should be ensured due to being the much distribution of user's independent will. Then, the assistance system can react to the human motion through the stability every moment. Therefore we propose the walking assistance system for the walking stability by using the human motion information. The walking assistance system is based on the compensation model and the walking stability is determined by ZMP and COG information for the human motion. To verify the verification of the proposed system, the relation between the ZMP and COG information is analyzed corresponding to the environment for the human motion. And the experiment for the walking assistance system applying the compliance controller is implemented in the two situations which are safe and dangerous.

Original language	English
Title of host publication	Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	238-243
Number of pages	6
ISBN (Electronic)	9781509045389
DOIs	https://doi.org/10.1109/ICMECH.2017.7921110
Publication status	Published - 2017 May 6
Event	2017 IEEE International Conference on Mechatronics, ICM 2017 - Gippsland, Australia Duration: 2017 Feb 13 → 2017 Feb 15

Other

Other	2017 IEEE International Conference on Mechatronics, ICM 2017
Country	Australia
City	Gippsland
Period	17/2/13 → 17/2/15

Keywords

Human motion
Walking assistance system
Walking stability

ASJC Scopus subject areas

Electrical and Electronic Engineering
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/ICMECH.2017.7921110

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Cite this

Kim, S., Hirota, K., Nozaki, T., & Murakami, T. (2017). Walking assistance system for walking stability by using human motion information. In Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017 (pp. 238-243). [7921110] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2017.7921110

Walking assistance system for walking stability by using human motion information. / Kim, Seonghye; Hirota, Kiichi; Nozaki, Takahiro ; Murakami, Toshiyuki.

Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 238-243 7921110.

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

Kim, S, Hirota, K, Nozaki, T & Murakami, T 2017, Walking assistance system for walking stability by using human motion information. in Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017., 7921110, Institute of Electrical and Electronics Engineers Inc., pp. 238-243, 2017 IEEE International Conference on Mechatronics, ICM 2017, Gippsland, Australia, 17/2/13. https://doi.org/10.1109/ICMECH.2017.7921110

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abstract = "In an aging society, most of walking assistance device has been researched in an aspect of augmentation system which assists the human walking by torque enough. However the user depends on the performance of assistance device without the independent reliance. Therefore we researched the compensation system which offers the minimum torque required during the human walking. Furthermore the stability of mutual human-device should be ensured due to being the much distribution of user's independent will. Then, the assistance system can react to the human motion through the stability every moment. Therefore we propose the walking assistance system for the walking stability by using the human motion information. The walking assistance system is based on the compensation model and the walking stability is determined by ZMP and COG information for the human motion. To verify the verification of the proposed system, the relation between the ZMP and COG information is analyzed corresponding to the environment for the human motion. And the experiment for the walking assistance system applying the compliance controller is implemented in the two situations which are safe and dangerous.",

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