Novel Walking Assist Device Based on Mobile Manipulator and Inertial Measurement Unit

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: 2014/09/01

タイトル(英語): Novel Walking Assist Device Based on Mobile Manipulator and Inertial Measurement Unit

著者名: Chuan Yang (Department of System Design Engineering, Keio University), Toshiyuki Murakami (Department of System Design Engineering, Keio University)

著者名(英語): Chuan Yang (Department of System Design Engineering, Keio University), Toshiyuki Murakami (Department of System Design Engineering, Keio University)

キーワード: IMU sensor，walking motion estimation，mobile device power assisted control

要約(英語): This paper presents a method for walking assist control that uses an inertial measurement unit (IMU) sensor fixed to an elderly person's foot to estimate his or her walking motion. In the proposed approach, a mobile device is synchronously driven by the user's walking motion. Furthermore, a manipulator mounted on the mobile device can support and help the user walk. These functions make it possible for the device to move beside the user and coordinate with his or her steps. The validity of the proposed approach was confirmed through several experiments.

本誌: IEEJ Journal of Industry Applications Vol.3 No.5 （2014）

本誌掲載ページ: 381-387 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/3/5/3_381/_article/-char/ja/