Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement

Author

Watanabe, Takao ; Ohki, Eiichi ; Kobayashi, Yo ; Fujie, Masakatsu G.

Author_Institution

Fac. of Sci. & Eng., Waseda Univ., Tokyo, Japan

fYear

2010

fDate

3-7 May 2010

Firstpage

2235

Lastpage

2240

Abstract

A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.

Keywords

actuators; feedforward; force control; gait analysis; legged locomotion; BWS system; actuators; body weight support; feedforward control; gait cycle estimation; heel contact timing estimation; leg-dependent force control; pelvic movement; vertical floor reaction force; Actuators; Feeds; Force control; Force feedback; Ground support; Legged locomotion; Pelvis; Shafts; Springs; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509514

Filename

5509514