In basic research on power assist walking leg using force/velocity control strategies

被引：4

作者：

Chen, Feng ^{[1
,2
]}

Yu, Yong ^{[1
]}

Ge, Yunjian ^{[1
]}

Wu, Baoyuan ^{[1
]}

Sun, Jian ^{[1
]}

机构：

[1] Chinese Acad Sci, Inst Intelligent Machines, Hefei, Anhui, Peoples R China

[2] Univ Sci & Technol China, Dept Automat, Hefei, Peoples R China

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON INFORMATION ACQUISITION, VOLS 1 AND 2, CONFERENCE PROCEEDINGS | 2006年

基金：

美国国家科学基金会;

关键词：

power assist; human-robot interaction; force/velocity;

D O I：

10.1109/ICIA.2006.305812

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 [模式识别与智能系统]; 0812 [计算机科学与技术]; 0835 [软件工程]; 1405 [智能科学与技术];

摘要：

In this paper, we intend to introduce a concept of power assist walking support system and a fundamental strategy of walking support using human-robot interaction force information. The work presented is developing a mechanism,,which is in physical contact with the human body, with goal of decreasing human inner force/increasing human strength during a certain activities or for special groups, such as succor, care-worker, elderly people, soldier and fireman. There are several problems in this project. First, the structure problem is studied using Ergonomics. Second, robot must understand the user motion intention and planning of the legs. Then, a very important aspect of the problem, how to control the power assist walking system, is also investigated. And the system must be simple for user, i.e. the user should be able to manipulate the walking support system easily. Therefore, we tentatively propose a strategy using the human-robot interaction forces between the assistant walking legs and the human legs. The system is also expected to have powerful impacts on many applications during activities of daily life. Correlative experimental results are presented to show the effectiveness of the control strategies.

引用

页码：701 / 706

页数：6

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