Proceedings ArticleDOI
Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint
S. Lee,Yoshiyuki Sankai +1 more
- Vol. 2, pp 1499-1504
TLDR
The results showed the amplitudes of EMG were reduced significantly, the operator was able to swing the leg lighter by reducing the inertia around knee, and the strain of knee in foot-grounding could be alleviated by adding the stiffness to joint.Abstract:
This paper describes the power assist control for walking aid based on EMG and impedance adjustment with HAL-3 we have developed. Virtual torque derived from EMG is adopted as a basic control method, and the motion assist control as to operator's intention can be realized by this method. And we suggest the impedance adjustment around knee joint for more effective power assist control. Experiments for simple motion and walking motion were performed to verify the proposed approach, with impedance parameters found by RLS (recursive least square) method. The evaluation of assisted motion was done by a calculation based on EMG in nearly proportion to the operator's muscle force. The results showed the amplitudes of EMG were reduced significantly, the operator was able to swing the leg lighter by reducing the inertia around knee, and the strain of knee in foot-grounding could be alleviated by adding the stiffness to joint.read more
Citations
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Journal ArticleDOI
An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot
Kazuo Kiguchi,Yoshiaki Hayashi +1 more
TL;DR: An electromyogram (EMG)-based impedance control method for an upper-limb power-assist exoskeleton robot is proposed to control the robot in accordance with the user's motion intention and is simple, easy to design, humanlike, and adaptable to any user.
Book ChapterDOI
Intention-based walking support for paraplegia patients with Robot Suit HAL
TL;DR: An algorithm is proposed to estimate human intentions related to walking in order to comfortably and safely support a paraplegia patient's walk.
Proceedings ArticleDOI
Control method of robot suit HAL working as operator's muscle using biological and dynamical information
TL;DR: A control method of HAL using biological and motion information is proposed and, when applied, HAL could work like operator's muscles in the swinging motion, and as a consequence, the muscle activities of the operator were reduced.
Journal ArticleDOI
Power assist method based on Phase Sequence and muscle force condition for HAL
TL;DR: A power assist method of walking, standing up and going up stairs based on autonomous motion of the exoskeleton robot suit, HAL (Hybrid assistive Limb), is proposed and the effectiveness of this method is verified by experiment.
Journal ArticleDOI
Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons
TL;DR: This review focuses on control strategies for robotic ankle systems in active and semiactive lower-limb orthoses, prostheses, and exoskeletons, with special attention to algorithms for gait phase identification, adaptation to different walking conditions, and motion intention recognition.
References
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TL;DR: Experimental results indicate the feasibility of an EMG-based power exoskeleton system as an integrated human-machine system using high-level neurological signals.
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An exoskeletal robot for human elbow motion support-sensor fusion, adaptation, and control
TL;DR: A one degree-of-freedom (1 DOF) exoskeletal robot and its control system to support the human elbow motion and fuzzy neuro control has been applied to the controller.
Journal ArticleDOI
Investigation into the mass distribution properties of the human body and its segments
Ints Kaleps,Charles E. Clauser,Joseph W. Young,Richard F. Chandler,Gregory F. Zehner,John T. McConville +5 more
TL;DR: The use of stereophotography now makes possible the segmentation of living subjects and provides a means for measuring mass distribution properties on body segments as well as on the total body.
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