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

Yoshiaki Hayashi, Kazuo Kiguchi

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

17 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
ホスト出版物のサブタイトルCelebrating 50 Years of Robotics
ページ1755-1760
ページ数6
DOI
出版ステータス出版済み - 12 29 2011
外部発表はい
イベント2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, 米国
継続期間: 9 25 20119 30 2011

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

その他

その他2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country米国
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

フィンガープリント 「Stairs-ascending/descending assist for a lower-limb power-assist robot considering ZMP」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル