TY - GEN
T1 - Control of foot trajectry in perception-assist with a power-assist robot
AU - Kiguchi, Kazuo
AU - Yokomine, Yutaka
AU - Okada, Nobuhiro
AU - Hayashi, Yoshiaki
PY - 2013/1/1
Y1 - 2013/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/RVSP.2013.58
DO - 10.1109/RVSP.2013.58
M3 - Conference contribution
AN - SCOPUS:84903627176
SN - 9781479931842
T3 - Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013
SP - 224
EP - 228
BT - Proceedings - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013
PB - IEEE Computer Society
T2 - 2013 2nd International Conference on Robot, Vision and Signal Processing, RVSP 2013
Y2 - 10 December 2013 through 12 December 2013
ER -