Self-organization of limb coordination and motion control in rhythmic walking assist

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  • Nagashima Terumasa
    Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology
  • Hirobe Yuki
    Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology JST CREST
  • Seki Masatoshi
    Kikuchi Seisakusho Co. Ltd.
  • Nakayama Masayuki
    Kikuchi Seisakusho Co. Ltd.
  • Miyake Yoshihiro
    Interdisciplinary Graduate School of Science and Engineering, Tokyo Institute of Technology JST CREST

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Other Title
  • リズム歩行アシストにおける四肢の協調関係の自己組織化と運動制御
  • リズム ホコウ アシスト ニ オケル シシ ノ キョウチョウ カンケイ ノ ジコ ソシキカ ト ウンドウ セイギョ

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Abstract

In rhythm walking assistance for upper limbs, the effect on limb coordination of human has not been sufficiently analyzed, and the walking assist system focusing on its mechanism has not been proposed. In this study, we showed the possibility of controlling phase difference between upper and lower limbs and walking cycle by upper limb motor drive timing through the simulation focusing on Self-organization of limb coordination. Furthermore, we showed that the same effect can be obtained in actual walking assistance in healthy young people through the walking experiment using wearable robot. According to these results, it was suggested that there is a limb coordination in actual walking assistance. Therefore, the feasibility of a system that can change the drive timing of the motor dynamically to control the phase relation and walking cycle was suggested.

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