Premium
Development of Sensor and Control Systems of a Wearable Robot to Walk on a Step
Author(s) -
Oda Yuki,
Kagawa Takahiro,
Uno Yoji
Publication year - 2014
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22359
Subject(s) - trajectory , control theory (sociology) , gait , inverse kinematics , kinematics , robot , jerk , computer science , simulation , position (finance) , wearable computer , engineering , artificial intelligence , control (management) , acceleration , physical medicine and rehabilitation , physics , medicine , finance , classical mechanics , astronomy , economics , embedded system
SUMMARY The goal of our study is to develop a system for walking on a step using a wearable robot. Our system consists of (1) sensing of a step from the movement of the walker, (2) detection of the foot placement state related to the step, and (3) generation of gait patterns of climbing and stepping down for the step. In the generation of gait patterns for the step, toe trajectories are generated according to the height of the step to avoid collision of the swinging leg with the step. The hip trajectory is generated by an optimization technique that minimizes the sum of the joint angular jerk of the robot subject to constraints on the hip position and the velocity at toe liftoff. Each joint angle trajectory is calculated from the generated trajectories by means of inverse kinematic equations. We investigated the feasibility of the proposed sensor and control systems for two steps with different heights.