A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton

Kazuo Kiguchi; Atsushi Komori; Taiki Kouno

doi:10.1109/SCIS-ISIS.2014.7044884

A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton

Kazuo Kiguchi
, Atsushi Komori
, Taiki Kouno

Control Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1233-1237
Number of pages	5
ISBN (Electronic)	9781479959556
DOIs	https://doi.org/10.1109/SCIS-ISIS.2014.7044884
Publication status	Published - Feb 18 2014
Event	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, Japan Duration: Dec 3 2014 → Dec 6 2014

Publication series

Name	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014

Other

Other	2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
Country/Territory	Japan
City	Kitakyushu
Period	12/3/14 → 12/6/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

All Science Journal Classification (ASJC) codes

Software
Artificial Intelligence

Access to Document

10.1109/SCIS-ISIS.2014.7044884

Cite this

Kiguchi, K., Komori, A., & Kouno, T. (2014). A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton. In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 (pp. 1233-1237). Article 7044884 (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2014.7044884

A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton. / Kiguchi, Kazuo; Komori, Atsushi; Kouno, Taiki.
2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1233-1237 7044884 (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kiguchi, K, Komori, A & Kouno, T 2014, A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton. in 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014., 7044884, 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1233-1237, 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014, Kitakyushu, Japan, 12/3/14. https://doi.org/10.1109/SCIS-ISIS.2014.7044884

Kiguchi K, Komori A, Kouno T. A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton. In 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1233-1237. 7044884. (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014). doi: 10.1109/SCIS-ISIS.2014.7044884

Kiguchi, Kazuo ; Komori, Atsushi ; Kouno, Taiki. / A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton. 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1233-1237 (2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014).

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A study on motion modification force in perception-assist for a lower-limb power-assist exoskeleton

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