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Motion Control for an Intelligent Walking Support Machine
http://hdl.handle.net/10173/1452
http://hdl.handle.net/10173/145221b7c4c4-ba86-4c0b-b8e6-685c5685ca20
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-3.pdf (283.2 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Motion Control for an Intelligent Walking Support Machine | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Walking support | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Omni-directional walker | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Digital acceleration control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Centre-of-gravity shift | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Nonlinear friction | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Load changes | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Wang, Yina
× Wang, Yina× Wang, Shuoyu× Tan, Renpeng× Jiang, Yinlai× Ishida, Kenji× Fujie, Masakatsu G. |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Walking is a vital exercise for health promotion and fundamental ability necessary for everyday life. Up to now, many robots for walking support or walking rehabilitation of the elderly and the disabled are reported. In this paper, a new omni-directional walking support machine is developed. The machine can realize walking support by following the user's control intention which is detected according to the user's manipulation. However, the motion of the machine is affected by the nonlinear frictions, center-of-gravity (COG) shifts and loads changes caused by users. It is necessary to improve the machine's motion performance to follow the user intention and support the user. Therefore, this paper describes a motion control method based on digital acceleration control to deal with the problem of nonlinear frictions, COG shifts and loads changes. Simulations are executed and the results demonstrate the feasibility and effectiveness of the proposed digital acceleration control method. | |||||
| 書誌情報 |
ICIC Express Letters 巻 6, 号 1, p. 145-149, 発行日 2012-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1881-803X | |||||
| 権利 | ||||||
| 権利情報 | ICIC International © 2012 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | ICIC International | |||||
