Title :
Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement
Author :
Watanabe, Takao ; Ohki, Eiichi ; Kobayashi, Yo ; Fujie, Masakatsu G.
Author_Institution :
Fac. of Sci. & Eng., Waseda Univ., Tokyo, Japan
Abstract :
A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.
Keywords :
actuators; feedforward; force control; gait analysis; legged locomotion; BWS system; actuators; body weight support; feedforward control; gait cycle estimation; heel contact timing estimation; leg-dependent force control; pelvic movement; vertical floor reaction force; Actuators; Feeds; Force control; Force feedback; Ground support; Legged locomotion; Pelvis; Shafts; Springs; Wire;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509514
