書誌事項
- タイトル別名
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- A Method Preventing Backward Falling while Walking with a Wearable Robot
- ソウチャクガタ ロボット ノ ホコウ ホジョ ニ オケル コウホウ テントウ ヨボウ ノ タメ ノ イチホウサク
この論文をさがす
抄録
In the development of a wearable robot assisting paraplegic walking, prevention of falls is important for practical applications. Considering fall prevention, it will be efficient to measure ground reaction force. We developed a measurement system of ground reaction force which consists of small 3-axis force sensors. Measured data, such as ground reaction force and center of pressure (COP), was applied to fall prevention control. In this paper, we propose a control method to adjust the timing of swing motion besed on zero-moment-point (ZMP) and to support weight shift. We evaluate effectiveness of the proposed method for prevention of falls according to measurement experiments of walking.
収録刊行物
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- 電気学会論文誌C(電子・情報・システム部門誌)
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電気学会論文誌C(電子・情報・システム部門誌) 131 (11), 2000-2008, 2011
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679583774080
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- NII論文ID
- 10030528290
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 11293578
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可