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Development of Moment Assist and System Weight Compensation Control for Wearable Walking Assist System

Article of Honda R&D Technical Review Vol.19 No.2

Summary

With the aim of realizing a “user-friendly walking assist system” to support the lifestyles of elderly persons, a new assist control method was developed that combines assist functionality for the user with system weight compensation.
Different computational processing models were developed for the user and the unit. A processing method was proposed in which inverse dynamics analysis is used to calculate the assist moment from user processing and the system weight compensation from unit processing. A floor reaction force for the system weight compensation processing method was established to allow system weight compensation control. A high degree of stability in the vector orientation of the floor reaction force for system weight compensation was shown in tests. In addition, this method enables estimation of the user’s floor reaction force vector by applying the user’s dynamics model. Thus, it was shown that there are good prospects for the realization of a user-friendly walking assist system that does not employ floor reaction force sensors in the system.

Reference

(1) http://www8.cao.go.jp/kourei/whitepaper/w-2006/zenbun/18index.html
(2) Katoh, H., Hirata, T.: The concept of a walking assistance suit, D&D2001 Symposium on Welfare Engineering, W418 (2001)
(3) Nakamura, T., Saito, K., Kosuge, K.: Control of Wearable Walking Support System Based on Human-Model and GRF, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, p.4405-4410 (2005)
(4) JP, 2005-95561, A (2005)
(5) Tsuchiya, K.: Chapter 5 Integrated analysis, Introduction to clinical walking analysis, Ishiyaku Publishers, Inc., p. 110-115 (1994)
(6) Kazerooni, H., Racine, J. L., Huang, L., Steger, R.: On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX), Proceedings of the 2005 IEEE International Conference on Robotics and Automation, p. 4364-4371 (2005)
(7) Yamamoto, K.: Chapter 9 Kinematics in Noninertial system, Dynamics, Gakujutsu Tosho Shuppan-sha Co., Ltd., p. 78-85 (1995)

Author (organization or company)

Yasushi IKEUCHI(Fundamental Technology Research Center)

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