A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton

Kazuo Kiguchi, Atsushi Komori, Taiki Kouno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Power-assist systems have been studied actively in these days. The motion of physically weak persons can be assisted by the power-assist systems. On the other hand, not only the motor ability, but also the sensory ability is sometimes deteriorated in the case of a person who needs the assist of the power-assist systems. Perception-assist is one of the methods to assist the sensory ability for such person. In the perception-assist, the user's motion is automatically modified by the power-assist robot if it is necessary. This paper presents a method to distribute the motion modification force to multiple joints considering the user's joint movable ranges and energy efficiency. A null space is applied to take into account the user's joint movable ranges. The experimental results showed the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1233-1237
Number of pages5
ISBN (Electronic)9781479959556
DOIs
Publication statusPublished - Feb 18 2014
Event2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, Japan
Duration: Dec 3 2014Dec 6 2014

Publication series

Name2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014

Other

Other2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
CountryJapan
CityKitakyushu
Period12/3/1412/6/14

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence

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    Kiguchi, K., Komori, A., & Kouno, T. (2014). A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton. In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 (pp. 1233-1237). [7044884] (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2014.7044884