DocumentCode
2597979
Title
Realizing model-based wearable antigravity muscles support with dynamics terms
Author
Nakamura, Takahiko ; Saito, Kazunari ; Wang, Zhidong ; Kosuge, Kazuhiro
Author_Institution
Dept. of Bioeng. & Robotics, Tohoku Univ., Sendai, Japan
fYear
2005
fDate
2-6 Aug. 2005
Firstpage
2694
Lastpage
2699
Abstract
In this paper, to construct the system, which can assist daily activities of physically weak person more smartly, we propose a new wearable antigravity muscles support system, which supports antigravity muscles based on the posture and motion of user. In this system, a dynamics-based control algorithm for the device without using biological signals is implemented to the wearable antigravity muscles support device. Experimental results show the potential of this proposed system.
Keywords
handicapped aids; intelligent robots; medical robotics; medical signal processing; motion control; patient rehabilitation; robot dynamics; biological signals; dynamics-based control; model-based wearable antigravity muscle support; physically weak person; user motion; user posture; walking support; Arm; Control systems; Humans; Hydraulic actuators; Leg; Legged locomotion; Medical robotics; Muscles; Robots; Senior citizens; Antigravity Muscles; Walking Support; Wearable Support System;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8912-3
Type
conf
DOI
10.1109/IROS.2005.1545279
Filename
1545279
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