Power assist method based on Phase Sequence and muscle force condition for HAL

Advanced Robotics

Volumn 19, Issue 7, 2005, Pages 717-734

  Kawamoto, Hiroaki ^a   Sankai, Yoshiyuki ^a,b  

^a UNIVERSITY OF TSUKUBA   (Japan)

^b BAYLOR COLLEGE OF MEDICINE   (United States)

Author keywords

Exoskeleton; HAL; Myoeiectricity signal; Phase sequence; Power assist

Indexed keywords

EXOSKELETON; HYBRID ASSISTIVE LIMB (HAL); MYOEIECTRICITY SIGNAL; PHASE SEQUENCE; POWER ASSIST;

BIOMECHANICS; FUNCTIONS; JOINTS (ANATOMY); MOTION CONTROL; MUSCLE; PHASE SEQUENCE INDICATORS; STAIRS;

ROBOTS;

EID: 24344467912     PISSN: 01691864     EISSN: None     Source Type: Journal    
DOI: 10.1163/1568553054455103     Document Type: Article

References (13)

1. H. Kazerooni and S. L. Mahoney, Dynamics and control or robotic systems worn by humans, J. Dynamic Syst. Meas. Control 113, 379-387 (1991).
2. H. Kazerooni and S. L. Mahoney, Human extenders, J. Dynamic Syst. Meas. Control 115, 281-290(1993).
3. Y. Hayashibara, K. Tanie and H. Arai, Design of a power assisted system with consideration of actuator's maximum torque, in: Proc. IEEE Int. Workshop on Robot and Human Communication, Tokyo, pp. 397-384(1995).
4. J. Rosen et al, A myosignal-based powered exoskeleton system, IEEE Trans. Syst. Man Cybernet. A 31, 210-222 (2001).
5. T. Nakai, S. Lee, H. Kawamoto and Y. Sankai, Development of power assistive leg for walking aid using EMG and linux, in: Proc. 2nd Asian Symp. on Industrial Automation and Robotics, Bangkok, pp. 295-299 (2001).
6. K. Kasaoka and Y. Sankai, Predictive control estimating operator's intention for stepping-up motion, in: Proc. Int. Workshop on Intelligent Robots and Systems, Maui, HI, pp. 1578-1583 (2001).
7. S. Lee and Y. Sankai, Power asssit control for walking aid by HAL based on phase sequence and EMG, in: Proc. Int. Conf. on Control, Automation and System, Cheju, pp. 353-356 (2001).
8. H. Kawamoto and Y. Sankai, EMG-based hybrid assistive leg for walking aid using feedforward controller, in: Proc. Int. Conf. on Control, Automation and System, Cheju, pp. 190-193 (2001).
9. H. Imai, M. Nozawa, Y. Kawamura and Y Sankai, Human motion oriented control method for humanoid robot, in: Proc. Int. Workshop on Robot and Human Interactive Communication, Berlin, pp. 221-226(2002).
10. Y. Kawamura and Y. Sankai, Humanoid control method based on human knack for human care service, in: Proc. Int. Conf. on System, Man and Cybenetics, Hammamet, TP1B4 (CD-ROM) (2002).
11. N.M. Kumagai and T. Emura, A method for controlling robots using common Linux, in: Proc. 17th Ann. Conf. of the Robotics Society of Japan, Hiratsuka, pp. 847-848 (1999).
12. S. Lee and Y. Sankai, Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint, in: Proc. Int. Conf. of Intelligent Robots and Systems, Hammamet, TP1B3 (CD-ROM) (2002).
13. H. Kawamoto and Y. Sankai, Power assist method for HAL-3 using EMG-based feedback controller, in: Proc. Int. Conf. on System, Man and Cybenetics, Washington, DC, pp. 1648-1653 (2003).