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  1. 学術雑誌論文

Nonlinear Adaptive Controller for Omni-Directional Walker : Dynamic Model Improvement and Experiment

http://hdl.handle.net/10173/1454
http://hdl.handle.net/10173/1454
857b7530-0b59-4903-b838-f24b883d26a6
名前 / ファイル ライセンス アクション
28-4.pdf 28-4.pdf (406.7 kB)
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 Nonlinear Adaptive Controller for Omni-Directional Walker : Dynamic Model Improvement and Experiment
言語
言語 eng
キーワード
主題Scheme Other
主題 Walker
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 Rehabilitation
キーワード
主題Scheme Other
主題 Motion control
キーワード
主題Scheme Other
主題 Adaptive controller
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 Tan, Renpeng

× Tan, Renpeng

Tan, Renpeng

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Wang, Shuoyu

× Wang, Shuoyu

Wang, Shuoyu

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Jiang, Yinlai

× Jiang, Yinlai

Jiang, Yinlai

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Ishida, Kenji

× Ishida, Kenji

Ishida, Kenji

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Fuji, Masakatsu G.

× Fuji, Masakatsu G.

Fuji, Masakatsu G.

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抄録
内容記述タイプ Abstract
内容記述 This paper describes an omni-directional walker (ODW), which is being developed for both walking rehabilitation and walking support for people with walking disabilities. The ODW needs to accurately follow the path referring to the exercise prescription from physical therapists. However, path tracking error happens during walking rehabilitation. This paper is part of an effort aiming to improve path tracking accuracy of the ODW considering the center-of-gravity shifts (COG) and load changes caused by user. In previous studies, a nonlinear adaptive controller was proposed based on a gravity model of the ODW. In this paper, in order to precisely describe the plant, a new center-dynamic model of the ODW and an improved nonlinear adaptive control method are derived. We conducted experiments in which the ODW was controlled to follow a linear path as a common rehabilitation path. Experiment results showed that the improved strategy is effective to deal with the COG shifts and load changes.
書誌情報 ICIC Express Letters

巻 6, 号 3, p. 611-615, 発行日 2012-03
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
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