2A2-K06 リニアアクチュエータを用いた歩行アシスト装置の開発と歩行シミュレーションによるアシスト効果の検証

Translated title of the contribution: 2A2-K06 Development of Wearable Walking Assist Device using Linear Actuator and Its Verification through Numerical Simulations

Research output: Contribution to journalArticle

Abstract

This paper proposes a wearable walking assist device using a linear actuator for people who feel that walking is slightly painful in everyday life, and numerical walking simulation is conducted to evaluate the effectiveness of proposed devices, and construct an effective control method. The linear actuator intrinsically owns enough back driverbility because there is no reduction gear. Namely, it is possible to prevent tumble of a people who wears this device even if the device suddenly makes unexpected motion. This is because the people can easily resist against an output force of the actuator due to high backdrivability. A joint torque controller to assist a swing leg which is designed, and a numerical walking simulation is conducted to verify the effectiveness of assistance of the proposed device. From these simulation results, an effective feedback controller in terms of energy consumption is designed.
Original languageJapanese
Pages (from-to)"2A2-K06(1)"-"2A2-K06(4)"
Journalロボティクス・メカトロニクス講演会講演概要集
Volume2015
Publication statusPublished - May 17 2015

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Linear actuators
Controllers
Computer simulation
Gears
Actuators
Energy utilization
Torque
Wear of materials
Feedback

Cite this

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title = "2A2-K06 リニアアクチュエータを用いた歩行アシスト装置の開発と歩行シミュレーションによるアシスト効果の検証",
abstract = "This paper proposes a wearable walking assist device using a linear actuator for people who feel that walking is slightly painful in everyday life, and numerical walking simulation is conducted to evaluate the effectiveness of proposed devices, and construct an effective control method. The linear actuator intrinsically owns enough back driverbility because there is no reduction gear. Namely, it is possible to prevent tumble of a people who wears this device even if the device suddenly makes unexpected motion. This is because the people can easily resist against an output force of the actuator due to high backdrivability. A joint torque controller to assist a swing leg which is designed, and a numerical walking simulation is conducted to verify the effectiveness of assistance of the proposed device. From these simulation results, an effective feedback controller in terms of energy consumption is designed.",
author = "健二 田原 and 共史 岡田 and 康貴 中島 and 元司 山本",
year = "2015",
month = "5",
day = "17",
language = "Japanese",
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publisher = "一般社団法人日本機械学会",

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AU - 田原, 健二

AU - 岡田, 共史

AU - 中島, 康貴

AU - 山本, 元司

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Y1 - 2015/5/17

N2 - This paper proposes a wearable walking assist device using a linear actuator for people who feel that walking is slightly painful in everyday life, and numerical walking simulation is conducted to evaluate the effectiveness of proposed devices, and construct an effective control method. The linear actuator intrinsically owns enough back driverbility because there is no reduction gear. Namely, it is possible to prevent tumble of a people who wears this device even if the device suddenly makes unexpected motion. This is because the people can easily resist against an output force of the actuator due to high backdrivability. A joint torque controller to assist a swing leg which is designed, and a numerical walking simulation is conducted to verify the effectiveness of assistance of the proposed device. From these simulation results, an effective feedback controller in terms of energy consumption is designed.

AB - This paper proposes a wearable walking assist device using a linear actuator for people who feel that walking is slightly painful in everyday life, and numerical walking simulation is conducted to evaluate the effectiveness of proposed devices, and construct an effective control method. The linear actuator intrinsically owns enough back driverbility because there is no reduction gear. Namely, it is possible to prevent tumble of a people who wears this device even if the device suddenly makes unexpected motion. This is because the people can easily resist against an output force of the actuator due to high backdrivability. A joint torque controller to assist a swing leg which is designed, and a numerical walking simulation is conducted to verify the effectiveness of assistance of the proposed device. From these simulation results, an effective feedback controller in terms of energy consumption is designed.

UR - http://ci.nii.ac.jp/naid/110010055564

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