Title :
Realizing model-based wearable antigravity muscles support with dynamics terms
Author :
Nakamura, Takahiko ; Saito, Kazunari ; Wang, Zhidong ; Kosuge, Kazuhiro
Author_Institution :
Dept. of Bioeng. & Robotics, Tohoku Univ., Sendai, Japan
Abstract :
In this paper, to construct the system, which can assist daily activities of physically weak person more smartly, we propose a new wearable antigravity muscles support system, which supports antigravity muscles based on the posture and motion of user. In this system, a dynamics-based control algorithm for the device without using biological signals is implemented to the wearable antigravity muscles support device. Experimental results show the potential of this proposed system.
Keywords :
handicapped aids; intelligent robots; medical robotics; medical signal processing; motion control; patient rehabilitation; robot dynamics; biological signals; dynamics-based control; model-based wearable antigravity muscle support; physically weak person; user motion; user posture; walking support; Arm; Control systems; Humans; Hydraulic actuators; Leg; Legged locomotion; Medical robotics; Muscles; Robots; Senior citizens; Antigravity Muscles; Walking Support; Wearable Support System;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545279
