Comfortable power assist control method for walking aid by HAL-3

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

Volumn 4, Issue , 2002, Pages 447-452

  Kawamoto, H ^a   Sankai, Y ^a  

^a UNIVERSITY OF TSUKUBA   (Japan)

Author keywords

Feedforward control; Floor reaction force; Myoelectricity; Power assist

Indexed keywords

CONTROL SYSTEM ANALYSIS; GAIT ANALYSIS; KINEMATICS; MUSCULOSKELETAL SYSTEM; PROBLEM SOLVING;

POWER ASSIST CONTROL;

WALKING AIDS;

EID: 0036970351     PISSN: 08843627     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

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3. Lee S, Sankai Y, "Power Assist Control for Walking Aid by HAL Based on Phase Sequence and myoelectricity," ICCAS2001 International Conference on Control, Automation and system, Jeju, Korea, pp. 353-357, 2001.
4. Kasaoka K, Sankai Y, "Predictive Control Estimating Operator's Intention for Stepping-up Motion by Exo-Sckeleton Type Power Assist System HAL," IROS2001, Hawai, USA, pp. 1578-1583, 2001.
5. Olney S, Winter D, "Prediction of Knee and Ankel moments of Force in Walking from myoelectricity and Kinematic Data," Journal of Biomechnics, vol. 18, No.1 pp. 9-20, 1985.
6. Kawamoto H, Sankai Y, "EMG-based Hybrid Assistive Leg for Walking Aid using Feedforward Controller," ICCAS2001 International Conference on Control, Automation and system, Jeju, Korea, pp. 190-193, 2001.
7. Kawamoto, H, Sankai Y, "Function Analysis Method of Human's Motion Control System," IEEE International Conference on System, Man, and Cybernetics, Nashvill, USA, pp. 3877-3882, 2000