New exoskeleton structure and control algorithm considering walking characteristics

研究成果: Conference contribution

抄録

Walking assistive device is gaining attention, because of aging society these days. To assist their rehabilitation and realize their independent walk, the field of wearable device, such as exoskeleton is being researched. This paper mainly focuses on the device for patients with mild hemiplegia, caused by stroke. Many walking assistive devices were researched so far. However, these devices restrict patients' natural motion due to the structure of the device. Moreover, conventional control system has not satisfied the balance between assistance and patients' will. Therefore, the mechanism of new assistive device which reduce the restriction of the knee joint is proposed. This exoskeleton lifts up their lower limb by one link and impedance control considering the walking characteristics of the patient are also proposed. The controller focuses on the walking phase, floor reaction force and reaction force of each joint. After discussing walking characteristics of healthy person and patient with hemiplegia, proposed control is introduced. Effectiveness of proposed exoskeleton is confirmed by simulation.

元の言語English
ホスト出版物のタイトルIET Conference Publications
出版者Institution of Engineering and Technology
2015
エディションCP676
出版物ステータスPublished - 2015
イベント5th Asia International Symposium on Mechatronics, AISM 2015 - Guilin, China
継続期間: 2015 10 72015 10 10

Other

Other5th Asia International Symposium on Mechatronics, AISM 2015
China
Guilin
期間15/10/715/10/10

Fingerprint

Patient rehabilitation
Aging of materials
Control systems
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

これを引用

Hirota, K., & Murakami, T. (2015). New exoskeleton structure and control algorithm considering walking characteristics. : IET Conference Publications (CP676 版, 巻 2015). Institution of Engineering and Technology.

New exoskeleton structure and control algorithm considering walking characteristics. / Hirota, K.; Murakami, Toshiyuki.

IET Conference Publications. 巻 2015 CP676. 編 Institution of Engineering and Technology, 2015.

研究成果: Conference contribution

Hirota, K & Murakami, T 2015, New exoskeleton structure and control algorithm considering walking characteristics. : IET Conference Publications. CP676 Edn, 巻. 2015, Institution of Engineering and Technology, 5th Asia International Symposium on Mechatronics, AISM 2015, Guilin, China, 15/10/7.
Hirota K, Murakami T. New exoskeleton structure and control algorithm considering walking characteristics. : IET Conference Publications. CP676 版 巻 2015. Institution of Engineering and Technology. 2015
Hirota, K. ; Murakami, Toshiyuki. / New exoskeleton structure and control algorithm considering walking characteristics. IET Conference Publications. 巻 2015 CP676. 版 Institution of Engineering and Technology, 2015.
@inproceedings{6882fc77dc9448f58fd7c77046c530e2,
title = "New exoskeleton structure and control algorithm considering walking characteristics",
abstract = "Walking assistive device is gaining attention, because of aging society these days. To assist their rehabilitation and realize their independent walk, the field of wearable device, such as exoskeleton is being researched. This paper mainly focuses on the device for patients with mild hemiplegia, caused by stroke. Many walking assistive devices were researched so far. However, these devices restrict patients' natural motion due to the structure of the device. Moreover, conventional control system has not satisfied the balance between assistance and patients' will. Therefore, the mechanism of new assistive device which reduce the restriction of the knee joint is proposed. This exoskeleton lifts up their lower limb by one link and impedance control considering the walking characteristics of the patient are also proposed. The controller focuses on the walking phase, floor reaction force and reaction force of each joint. After discussing walking characteristics of healthy person and patient with hemiplegia, proposed control is introduced. Effectiveness of proposed exoskeleton is confirmed by simulation.",
keywords = "Elderly, Exoskeleton, Impedance control, Walking analysis, Walking assistance",
author = "K. Hirota and Toshiyuki Murakami",
year = "2015",
language = "English",
volume = "2015",
booktitle = "IET Conference Publications",
publisher = "Institution of Engineering and Technology",
edition = "CP676",

}

TY - GEN

T1 - New exoskeleton structure and control algorithm considering walking characteristics

AU - Hirota, K.

AU - Murakami, Toshiyuki

PY - 2015

Y1 - 2015

N2 - Walking assistive device is gaining attention, because of aging society these days. To assist their rehabilitation and realize their independent walk, the field of wearable device, such as exoskeleton is being researched. This paper mainly focuses on the device for patients with mild hemiplegia, caused by stroke. Many walking assistive devices were researched so far. However, these devices restrict patients' natural motion due to the structure of the device. Moreover, conventional control system has not satisfied the balance between assistance and patients' will. Therefore, the mechanism of new assistive device which reduce the restriction of the knee joint is proposed. This exoskeleton lifts up their lower limb by one link and impedance control considering the walking characteristics of the patient are also proposed. The controller focuses on the walking phase, floor reaction force and reaction force of each joint. After discussing walking characteristics of healthy person and patient with hemiplegia, proposed control is introduced. Effectiveness of proposed exoskeleton is confirmed by simulation.

AB - Walking assistive device is gaining attention, because of aging society these days. To assist their rehabilitation and realize their independent walk, the field of wearable device, such as exoskeleton is being researched. This paper mainly focuses on the device for patients with mild hemiplegia, caused by stroke. Many walking assistive devices were researched so far. However, these devices restrict patients' natural motion due to the structure of the device. Moreover, conventional control system has not satisfied the balance between assistance and patients' will. Therefore, the mechanism of new assistive device which reduce the restriction of the knee joint is proposed. This exoskeleton lifts up their lower limb by one link and impedance control considering the walking characteristics of the patient are also proposed. The controller focuses on the walking phase, floor reaction force and reaction force of each joint. After discussing walking characteristics of healthy person and patient with hemiplegia, proposed control is introduced. Effectiveness of proposed exoskeleton is confirmed by simulation.

KW - Elderly

KW - Exoskeleton

KW - Impedance control

KW - Walking analysis

KW - Walking assistance

UR - http://www.scopus.com/inward/record.url?scp=84973351731&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84973351731&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84973351731

VL - 2015

BT - IET Conference Publications

PB - Institution of Engineering and Technology

ER -