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

Kazuo Kiguchi; Yutaka Yokomine; Nobuhiro Okada; Yoshiaki Hayashi

doi:10.1109/RVSP.2013.58

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

Kazuo Kiguchi, Yutaka Yokomine, Nobuhiro Okada, Yoshiaki Hayashi

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013
Publisher	IEEE Computer Society
Pages	224-228
Number of pages	5
ISBN (Print)	9781479931842
DOIs	https://doi.org/10.1109/RVSP.2013.58
Publication status	Published - Jan 1 2013
Event	2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013 - Kitakyushu, Japan Duration: Dec 10 2013 → Dec 12 2013

Publication series

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

Other

Other	2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013
Country/Territory	Japan
City	Kitakyushu
Period	12/10/13 → 12/12/13

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Signal Processing

Access to Document

10.1109/RVSP.2013.58

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

Control of foot trajectry in perception-assist with a power-assist robot. / Kiguchi, Kazuo; Yokomine, Yutaka; Okada, Nobuhiro et al.

Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013. IEEE Computer Society, 2013. p. 224-228 6830018 (Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 6830018, Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013, IEEE Computer Society, pp. 224-228, 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013, Kitakyushu, Japan, 12/10/13. https://doi.org/10.1109/RVSP.2013.58

Kiguchi K, Yokomine Y, Okada N, Hayashi Y. 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. IEEE Computer Society. 2013. p. 224-228. 6830018. (Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013). doi: 10.1109/RVSP.2013.58

Kiguchi, Kazuo ; Yokomine, Yutaka ; Okada, Nobuhiro et al. / Control of foot trajectry in perception-assist with a power-assist robot. Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013. IEEE Computer Society, 2013. pp. 224-228 (Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013).

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

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