Motion Control Algorithm of Walking Assist Machine Using Crutches to Achieve Variable Gait Style and Step Length

被引：1

作者：

Matsuura, D. ^{[1
]}

Inose, R. ^{[1
]}

Takeda, Y. ^{[1
]}

机构：

[1] Tokyo Inst Technol, Meguro Ku, Tokyo, Japan

来源：

NEW TRENDS IN MEDICAL AND SERVICE ROBOTS: ASSISTIVE, SURGICAL AND EDUCATIONAL ROBOTICS | 2016年 / 38卷

关键词：

Walking machine; Walking assist; Actuator input trajectory; Initial configuration; Parametric analysis;

D O I：

10.1007/978-3-319-23832-6_3

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

A new scheme to determine actuator input trajectory for a walking assist machine using crutches to achieve various desired step length will be discussed. First of all, two different gaits, swing-to and dragging gait and typical patterns of actuator input trajectory regarding those two gaits were defined. Secondly, some dominant parameters, maximum stroke and amplitude of acceleration of linear actuator in the phase to get off the ground, were investigated to find reasonable parameter region called gait feasible region to achieve the above-proposed gaits safely. In addition, initial condition of the apparatus to start walking were also determined. By using a prototype walking device, effectiveness of the proposed scheme has been demonstrated by achieving several different desired step lengths in the swing-to and dragging gaits.

引用

页码：23 / 31

页数：9

共 9 条

[1]

[Anonymous], 2011, THESIS U CALIFORNIA

[2] Modelling, simulation and testing of a reconfigurable cable-based parallel manipulator as motion aiding system [J].