Application of redundant-DOF for perception-assist of a lower-limb exoskeleton robot

Takahiro Hora, Kazuo Kiguchi

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

1 被引用数 (Scopus)

抄録

Not only the motor function, but also the sensory function to recognize environments is often deteriorated in elderly persons. Due to the decline of the perception ability, they may encounter accidents such as stumbling. The concept of perception-assist has been proposed to avoid those accidents by automatically modifying their motion using an exoskeleton robot. In perception-assist, the lower-limb exoskeleton tries to modify user's motion automatically for avoiding accidents such as stumbling. The stumbling may be caused by insufficient ankle dorsiflexion as well as lack of lifting up a leg. Therefore, in addition to the motion assist for hip and knee joints, ankle joints also should be assisted to avoid stumbling. Consequently, 3DOF (hip, knee, and ankle joints) motion assist is preferred in each leg in the lower-limb exoskeleton robot, although the minimum degrees of freedom to modify the tip motion of the leg on the sagittal plane is 2DOF. Thus, the power-assist robot with perception-assist has redundant degree of freedom in the user's foot motion modification on the sagittal plane. In the power-assist robot with perception-assist, the redundant degree of freedom can be used to control the modifying motion by utilizing a null space. In this paper, the effective cost function of the null space is proposed for considering the movable range of each user and control of the ankle angle for the robot's energy efficiency. The effectiveness of the proposed cost function was evaluated by conducting experiments.

本文言語英語
ホスト出版物のタイトル2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
出版社Institute of Electrical and Electronics Engineers Inc.
ページ277-281
ページ数5
ISBN(電子版)9781538631942
DOI
出版ステータス出版済み - 7 2 2017
イベント2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017 - Beijing, 中国
継続期間: 10 17 201710 19 2017

出版物シリーズ

名前2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
2018-January

その他

その他2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Country中国
CityBeijing
Period10/17/1710/19/17

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Artificial Intelligence

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