Development of a Humanoid Robot Capable of Leaning on a Walk-assist Machine

Author

Ogura, Yu. ; Aikawa, Hiroyuki ; Shimomura, Kazushi ; Kondo, Hideki ; Morishima, Akitoshi ; Lim, Hun-ok ; Takanishi, Atsuo

Author_Institution

Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo

fYear

2006

fDate

20-22 Feb. 2006

Firstpage

835

Lastpage

840

Abstract

A new humanoid robot-WABIAN-2- that can be used as a human motion simulator is proposed in this paper. Its trunk is designed in order to permit rotation, and forward, backward, and sideway movement. Further, its arms are designed to support its complete weight when pushing a walk-assist machine. Moreover, it can lean on a walk-assist machine by forearm control using trunk motion. Basic walking experiments with WABIAN-2 are conducted with and without a walk-assist machine, thereby confirming its effectiveness

Keywords

gait analysis; humanoid robots; medical robotics; orthotics; patient rehabilitation; WABIAN-2; biped robot; forearm control; human motion simulator; humanoid robot; robot design; stretch walking; trunk motion; walk-assist machine; Humanoid robots; Humans; Instruments; Legged locomotion; Mechanical engineering; Motion control; Rehabilitation robotics; Service robots; Testing; Torque measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on

Conference_Location

Pisa

Print_ISBN

1-4244-0040-6

Type

conf

DOI

10.1109/BIOROB.2006.1639194

Filename

1639194