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.
|ジャーナル||Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics|
|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 2014 → 10 8 2014
All Science Journal Classification (ASJC) codes