標題: Gait Analysis for a Human with a Robot Walking Helper
作者: Ko, Chun-Hsu
Young, Kuu-Young
Agrawal, Sunil K.
電機工程學系
Department of Electrical and Computer Engineering
關鍵字: walking helper;human;robot;gait analysis;passive
公開日期: 2013
摘要: 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.
URI: http://hdl.handle.net/11536/135412
ISBN: 978-3-642-33925-7
978-3-642-33926-4
ISSN: 2194-5357
期刊: INTELLIGENT AUTONOMOUS SYSTEMS 12, VOL 1
Volume: 193
起始頁: 603
結束頁: +
Appears in Collections:Conferences Paper