TY - GEN
T1 - A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton
AU - Kiguchi, Kazuo
AU - Komori, Atsushi
AU - Kouno, Taiki
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/2/18
Y1 - 2014/2/18
N2 - Power-assist systems have been studied actively in these days. The motion of physically weak persons can be assisted by the power-assist systems. On the other hand, not only the motor ability, but also the sensory ability is sometimes deteriorated in the case of a person who needs the assist of the power-assist systems. Perception-assist is one of the methods to assist the sensory ability for such person. In the perception-assist, the user's motion is automatically modified by the power-assist robot if it is necessary. This paper presents a method to distribute the motion modification force to multiple joints considering the user's joint movable ranges and energy efficiency. A null space is applied to take into account the user's joint movable ranges. The experimental results showed the effectiveness of the proposed method.
AB - Power-assist systems have been studied actively in these days. The motion of physically weak persons can be assisted by the power-assist systems. On the other hand, not only the motor ability, but also the sensory ability is sometimes deteriorated in the case of a person who needs the assist of the power-assist systems. Perception-assist is one of the methods to assist the sensory ability for such person. In the perception-assist, the user's motion is automatically modified by the power-assist robot if it is necessary. This paper presents a method to distribute the motion modification force to multiple joints considering the user's joint movable ranges and energy efficiency. A null space is applied to take into account the user's joint movable ranges. The experimental results showed the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84946531417&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84946531417&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2014.7044884
DO - 10.1109/SCIS-ISIS.2014.7044884
M3 - Conference contribution
AN - SCOPUS:84946531417
T3 - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
SP - 1233
EP - 1237
BT - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
Y2 - 3 December 2014 through 6 December 2014
ER -
