Stairs-ascending/descending assist for a lower-limb power-assist robot considering ZMP

Yoshiaki Hayashi, Kazuo Kiguchi

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

17 Citations (Scopus)

Abstract

In the case of some physically weak persons such as elderly persons, the environment perception ability is sometimes deteriorated also. To assist the daily living motion of those people, power-assist robots with the perception-assist have been proposed. The power-assist robot with the perception-assist assists not only the user's motion but also the user's interaction with an environment, by applying the modification force to the user's motion if it is necessary. In the case of lower-limb motion, the walking is the very important motion for a person to achieve daily activities. Some elderly persons might stumble on the bump and fall down in the stairs because they might not be able to lift own lower-limb well and/or recognize stairs correctly. In this paper, specifically, the stairs-ascending/descending assist for a lower-limb power-assist robot is proposed to prevent the user from falling down in stairs. ZMP of the user is taken into account in the proposed method. The effectiveness of the proposed method has been evaluated by the performing experiments.

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1755-1760
Number of pages6
DOIs
Publication statusPublished - Dec 29 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'Stairs-ascending/descending assist for a lower-limb power-assist robot considering ZMP'. Together they form a unique fingerprint.

Cite this