Control of foot trajectry in perception-assist with a power-assist robot

Kazuo Kiguchi, Yutaka Yokomine, Nobuhiro Okada, Yoshiaki Hayashi

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

1 Citation (Scopus)

Abstract

Power-assist robots are expected to assist the motion in daily living of physically weak persons. The concept of perception-assist has been proposed to assist the sensory ability in addition to the assist of motor ability of the user. In the perception-assist for a lower-limb power-assist robot, perception-assist can be applied to avoid the unexpected stumbling of the user. In that case, a virtual wall is used to avoid the stumbling of the user. In this paper, the dynamic property of the virtual wall is varied according to the user's foot position to make the proper lower-limb motion. Experiments results show the effectiveness of the defined dynamic property of the virtual wall.

Original languageEnglish
Title of host publicationProceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013
PublisherIEEE Computer Society
Pages224-228
Number of pages5
ISBN (Print)9781479931842
DOIs
Publication statusPublished - Jan 1 2013
Event2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013 - Kitakyushu, Japan
Duration: Dec 10 2013Dec 12 2013

Publication series

NameProceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013

Other

Other2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013
CountryJapan
CityKitakyushu
Period12/10/1312/12/13

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Signal Processing

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  • Cite this

    Kiguchi, K., Yokomine, Y., Okada, N., & Hayashi, Y. (2013). Control of foot trajectry in perception-assist with a power-assist robot. In Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013 (pp. 224-228). [6830018] (Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013). IEEE Computer Society. https://doi.org/10.1109/RVSP.2013.58