2024-03-28T17:37:40Z
https://nagoya.repo.nii.ac.jp/oai
oai:nagoya.repo.nii.ac.jp:00012011
2023-01-16T03:58:39Z
320:321:322
A human interface for stride control on a wearable robot
Kagawa, Takahiro
Uno, Yoji
open access
©2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
A legged locomotor device for paraplegics have been attempted to improve their ADL and to prevent some complications. A stride control of the system based on the user's intension is important to coordinate the voluntary movements of the user and the assisted movements of the paralyzed legs. In this paper, we propose a human interface with a walker to control the stride length of a legged locomotor device. Assuming that a intended stride is equal to a distance of the preceding movement of the walker, we developed a human interface estimating the movement distance of the walker, where the distance is calculated by polynomial fitting for the acceleration of the movement. In this study, we examine the proposed human interface from the measurement experiments of gait movements, and report the following results: (1) estimation accuracy by polynomial fitting method, and (2) feasibility of the adjustment of stride length using the proposed method. These results suggest that the proposed human interface is effective to adjust the stride length of a legged locomotor device.
IEEE
2009-10-15
eng
journal article
VoR
http://hdl.handle.net/2237/13887
https://nagoya.repo.nii.ac.jp/records/12011
https://doi.org/10.1109/IROS.2009.5353899
978-1-4244-3803-7
IEEE/RSJ International Conference on Intelligent Robots and Systems : IROS 2009
4067
4072
https://nagoya.repo.nii.ac.jp/record/12011/files/IROS.pdf
application/pdf
667.9 kB
2018-02-20