會議論文;;Conferences Paper

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Gait Analysis for a Human with a Robot Walking Helper
(2013)
Ko, Chun-Hsu
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Young, Kuu-Young
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Agrawal, Sunil K.
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電機工程學系
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Department of Electrical and Computer Engineering
With the growth of elderly population in our society, intelligent walking aids will play an important role in providing functional mobility to humans. In this paper, we propose a model to compute gait of humans walking with a robot helper. This model is aimed at designing a control system for the robot walking helper. The human model includes both the single support phase and impacts. Since a human will be walking along with the robot with its help, geometrical constraints and interaction forces are included. To achieve stable walking, zero moment point (ZMP) is utilized in the analysis and friction constraint is included within the reaction force from the ground. Simulations are performed to obtain optimal gait trajectories, the human applied joint torques, and the supporting forces from the robot walking helper.
Receding Horizon Passive Control for a Walk-Assist Robot
(2012)
Ko, Chun-Hsu
;
Young, Kuu-Young
;
Agrawal, Sunil K.
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電子工程學系及電子研究所
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Department of Electronics Engineering and Institute of Electronics
Passive walk-assist robots play an important role in providing safe mobility to the elderly. They use the brake torques on the wheels to assist the user walking and differentially steer the vehicle, while the user pushes the walker. It is important to appropriately select the brake torques in accordance with user-applied forces for controlling the robot. In this paper, a receding horizon passive control method is presented to calculate the brake torques so that the robot can perform point-to-point guidance. The control scheme first designs a smooth path to be followed by the robot. The terminal-state penalty is added to the cost function for path following, while the end point equality constraint is used to achieve the goal when the robot approaches the end point. The passivity of the system is guaranteed by adding the brake torque constraints into the formulated optimization problem. To be efficient, we look for a suboptimal solution of the optimization problem by using an analytical method. Simulation results show that the passive walk-assist robot, along with the proposed control scheme, can guide the user to a goal effectively.