Real-time fall and overturn prevention control for human-cane robotic system

2013 44th International Symposium on Robotics, ISR 2013

Volumn , Issue , 2013, Pages

  Di, Pei ^a   Huang, Jian ^b   Nakagawa, Shotaro ^a   Sekiyama, Kosuke ^a   Fukuda, Toshio ^c,d  

^a NAGOYA UNIVERSITY   (Japan)

^b HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

^c MEIJO UNIVERSITY   (Japan)

^d BEIJING INSTITUTE OF TECHNOLOGY   (China)

Author keywords

[No Author keywords available]

Indexed keywords

CENTER OF GRAVITY; FALL PREVENTION; HUMAN BALANCE; HUMAN SUBJECTS; HUMAN-IN-THE-LOOP; IMPEDANCE CONTROL; ROBOTIC SYSTEMS; SAFETY AND DEPENDABILITY;

ACCIDENT PREVENTION; INTELLIGENT ROBOTS; WALKING AIDS;

ROBOTICS;

EID: 84893210320     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ISR.2013.6695694     Document Type: Conference Paper

References (14)

1. K. Kiguchi, K. Iwami, M. Yasuda, K. Watanabe, and T. Fukuda, "An exoskeletal robot for human shoulder joint motion assist," Mechatronics, IEEE/ASME Transactions on, vol. 8, no. 1, pp. 125-135, 2003.
2. K. Kiguchi, T. Tanaka, and T. Fukuda, "Neuro-fuzzy control of a robotic exoskeleton with emg signals," Fuzzy Systems, IEEE Transactions on, vol. 12, no. 4, pp. 481-490, 2004.
3. K. Xing, J. Huang, J. He, Y. Wang, Q. Xu, and J. Wu, "Sliding mode tracking for actuators comprising pneumatic muscle and torsion spring," Transactions of the lnstitute of Measurement and Control, vol. 34, no. 2-3, pp. 255-277, 2012.
4. W. Huo, J. Huang, Y. Wang, and J. Wu, "Control of arehabilitation robotic exoskeleton based on intentional reaching direction," in Micro-NanoMechatronics and Human Science (MRS), 2010 International Symposium on, pp. 357-362, IEEE, 2010.
5. J. Wu, J. Huang, Y. Wang, and K. Xing, "Rls-esn based pid control for rehabilitation robotic arms driven by pm-ts actuators," in Modelling, Identification and Control (ICMIC), The 20]() International Conference on, pp. 511-516, IEEE, 2010.
6. K. Kong and D. Jeon, "Design and control of an exoskeleton for the elderly and patients," Mechatronics, IEEE/ASME Transactions on, vol. 11, no. 4, pp. 428-432, 2006. (Pubitemid 46405315)
7. H. Kawamoto, S. Taal, H. Niniss, T. Hayashi, K. Kamibayashi, K. Eguchi, and Y. Sankai, "Voluntary motion support control of robot suit hal triggered by bioelectrical signal for hemiplegia," in Engineering in Medicine and Biology Society (EMBC), 2070 Annual International Conference of the IEEE, pp. 462-466, IEEE, 2010.
8. K. Xing, J. Huang, Y. Wang, J. Wu, Q. Xu, and J. He, "Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer," IET control theory & applications, vol. 4, no. 10, pp. 2058-2070, 2010.
9. T. Ohnuma, G. Lee, and N. Y. Chong, "Particle filter based feedback control of jaist active robotic walker," in RO-MAN, 2077 IEEE, pp. 264-269, IEEE, 2011.
10. D. A. Winter, "Human balance and posture control during standing and walking," Gait & posture, vol. 3, no. 4, pp. 193-214, 1995.
11. C. Liang, H. Gu, M. Ceccarelli, and G. Carbone, "Design and operation of a tripod walking robot via dynamics simulation," Robotica, vol. 29, no. 5, pp. 733-743, 2011.
12. P. Di, J. Huang, K. Sekiyama, and T. Fukuda, "Motion control of intelligent cane robot under normal and abnormal walking condition," in RO-MAN, 2077 IEEE, pp. 497-502, IEEE, 2011.
13. J. Huang, P. Di, T. Fukuda, and T. Matsuno, "Motion control of omni-directional type cane robot based on human intention," in Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on, pp. 273-278, IEEE, 2008.
14. H. Mehdi and O. Boubaker, "Stiffness and impedance control using lyapunov theory for robot-aided rehabilitation," International Journal of Socal Robotics, vol. 4, no. 1, pp. 107-119, 2012.