Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators | Zendy

Motonobu Sato | Zendy; Eiichi Yagi | Zendy; Kazuo Sano | Zendy

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Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators

Author(s) -

Motonobu Sato,

Eiichi Yagi,

Kazuo Sano

Publication year - 2013

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2013.p0915

Subject(s) - torque , joint (building) , actuator , ankle , computer science , control theory (sociology) , knee joint , power (physics) , simulation , control (management) , engineering , artificial intelligence , structural engineering , physics , medicine , surgery , pathology , quantum mechanics , thermodynamics

This paper describes a method for power assist control that calculates the joint torques necessary to support an assist suit wearer’s walking. We approximate the body using a multijoint rigid link model. Joint support torques are calculated based on this model using the hip, knee and ankle angles of the wearer. Results of experiments show the effectiveness of proposed control method.

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