Walking assist for a stroke survivor with a power-assist exoskeleton

Kazuo Kiguchi, Yutaka Yokomine

研究成果: Contribution to journalConference article査読

6 被引用数 (Scopus)

抄録

A power-assist exoskeleton is expected to help the motion of physically weak person in daily living. The power-assist exoskeleton can be applicable to a stroke survivor also, though the motion intention of the paralyzed limb is difficult to be estimated. This paper proposes a control method of the lower-limb power-assist for a stroke survivor. In the proposed method, the lower-limb motion of the abled side of the user is copied as the desired motion of the paralyzed side. Then the desired lower-limb motion of the paralyzed side is generated by the lower-limb power-assist exoskeleton robot. ZMP is taken into account to avoid the unexpected falling. The effectiveness of the proposed method was evaluated by performing the experiments.

本文言語英語
論文番号6974196
ページ(範囲)1888-1892
ページ数5
ジャーナルConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
2014-January
January
DOI
出版ステータス出版済み - 1 1 2014
イベント2014 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2014 - San Diego, 米国
継続期間: 10 5 201410 8 2014

All Science Journal Classification (ASJC) codes

  • 電子工学および電気工学
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用

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