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

Kazuo Kiguchi, Atsushi Komori, Taiki Kouno

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1233-1237
ページ数5
ISBN(電子版)9781479959556
DOI
出版ステータス出版済み - 2 18 2014
イベント2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, 日本
継続期間: 12 3 201412 6 2014

出版物シリーズ

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

その他

その他2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
国/地域日本
CityKitakyushu
Period12/3/1412/6/14

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 人工知能

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