Walking-Assist Principle Analysis for a Multi-Legged 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: 2015/05/01

タイトル(英語): Walking-Assist Principle Analysis for a Multi-Legged System

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

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

キーワード: Walking-assist，Multi-legged，IMU sensor，Fall motion

要約(英語): As the aging problem becomes increasingly significant, robots are being widely applied as walking-assist devices for elders or patients suffering from walking disabilities. In this paper, a novel walking-assist multi-legged device that is fixed on the waist, with two machine legs independent from human legs, helps elders walk and climb stairs without any manipulation of the machine. In the proposed device, an inertial measurement unit (IMU) sensor is employed; the IMU contains a triaxial accelerometer, a triaxial gyro (angular rate sensor), and a triaxial magnetometer. The sensor is fixed on the waist of the elder in order to gauge the posture of the waist thereby preventing an emergency such as a fall. Further, based on the zero-moment point (ZMP), the stability of the device is analyzed to confirm the feasibility and effectiveness of this device.

本誌: IEEJ Journal of Industry Applications Vol.4 No.3 （2015） Special Issue on “IPEC-Hiroshima”

本誌掲載ページ: 294-300 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/4/3/4_294/_article/-char/ja/