A Study on Controller Characteristics for Most Efficient Gait Assist System

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2014/05/01

タイトル(英語): A Study on Controller Characteristics for Most Efficient Gait Assist System

著者名: Misako Sasayama (Keio University), Toshiyuki Murakami (Keio University)

著者名(英語): Misako Sasayama （Keio University）, Toshiyuki Murakami （Keio University）

キーワード: human interface，gait guidance，rehabilitation device，variable gain，power assist control

要約(英語): With the rapid increase in the aging population of Japan, the need for robotic gait training has grown. This paper presents a novel gait training device that guides the leg movements during gait. Conditions for correct gait movement were defined through previous gait analysis, and the gait training system presented in this paper is based on those conditions. This paper focuses on designing a controller for gait guidance. The proposed power-assist using variable gain position controller was compared to a normal position controller and also to a force controller, and the characteristics a controller must have for most effective gait guidance is discussed.

本誌: IEEJ Journal of Industry Applications Vol.3 No.3 （2014）

本誌掲載ページ: 206-213 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/3/3/3_206/_article/-char/ja/