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dc.contributor.authorKo, Chun-Hsuen_US
dc.contributor.authorYoung, Kuu-Youngen_US
dc.contributor.authorAgrawal, Sunil K.en_US
dc.date.accessioned2017-04-21T06:49:46Z-
dc.date.available2017-04-21T06:49:46Z-
dc.date.issued2013en_US
dc.identifier.isbn978-3-642-33925-7en_US
dc.identifier.isbn978-3-642-33926-4en_US
dc.identifier.issn2194-5357en_US
dc.identifier.urihttp://hdl.handle.net/11536/135412-
dc.description.abstractWith 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.en_US
dc.language.isoen_USen_US
dc.subjectwalking helperen_US
dc.subjecthumanen_US
dc.subjectroboten_US
dc.subjectgait analysisen_US
dc.subjectpassiveen_US
dc.titleGait Analysis for a Human with a Robot Walking Helperen_US
dc.typeProceedings Paperen_US
dc.identifier.journalINTELLIGENT AUTONOMOUS SYSTEMS 12, VOL 1en_US
dc.citation.volume193en_US
dc.citation.spage603en_US
dc.citation.epage+en_US
dc.contributor.department電機工程學系zh_TW
dc.contributor.departmentDepartment of Electrical and Computer Engineeringen_US
dc.identifier.wosnumberWOS:000313842700057en_US
dc.citation.woscount0en_US
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