装着型ロボットの歩行補助における後方転倒予防のための一方策

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2011/11/01

タイトル(英語): A Method Preventing Backward Falling while Walking with a Wearable Robot

著者名: 北村　仁（名古屋大学工学研究科），香川　高弘（名古屋大学工学研究科），宇野　洋二（名古屋大学工学研究科）

著者名(英語): Hitoshi Kitamura (Graduate School of Engineering, Nagoya University), Takahiro Kagawa (Graduate School of Engineering, Nagoya University), Yoji Uno (Graduate School of Engineering, Nagoya University)

キーワード: 装着型ロボット，転倒予防，床反力　　Wearable robot，Fall prevention，Ground reaction force

要約(英語): In the development of a wearable robot assisting paraplegic walking, prevention of falls is important for practical applications. Considering fall prevention, it will be efficient to measure ground reaction force. We developed a measurement system of ground reaction force which consists of small 3-axis force sensors. Measured data, such as ground reaction force and center of pressure (COP), was applied to fall prevention control. In this paper, we propose a control method to adjust the timing of swing motion besed on zero-moment-point (ZMP) and to support weight shift. We evaluate effectiveness of the proposed method for prevention of falls according to measurement experiments of walking.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.131 No.11 （2011） 特集：電気関係学会関西連合大会

本誌掲載ページ: 2000-2008 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/131/11/131_11_2000/_article/-char/ja/