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  1. B200 工学部/工学研究科
  2. B200a 雑誌掲載論文
  3. 学術雑誌

Gait pattern generation for a power-assist device of paraplegic gait

http://hdl.handle.net/2237/13886
http://hdl.handle.net/2237/13886
f986b9fd-4a04-4350-bed8-bc997731b4cf
名前 / ファイル ライセンス アクション
Ro-man.pdf Ro-man.pdf (401.9 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2010-07-30
タイトル
タイトル Gait pattern generation for a power-assist device of paraplegic gait
言語 en
著者 Kagawa, Takahiro

× Kagawa, Takahiro

WEKO 38064

en Kagawa, Takahiro

Search repository
Uno, Yoji

× Uno, Yoji

WEKO 38065

en Uno, Yoji

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
権利
言語 en
権利情報 ©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.
抄録
内容記述 We address a gait pattern generation on a legged locomotor device (WPAL: wearable power-assist locomotor) for paraplegics. In the gait movement with WPAL, a backward falling is a considerable problem, and a foot-floor collision during a swing movement would induce a loss of balance. In addition, adjustability of the gait parameters, such as stride length, gait cycle and maximum hight of the toe clearance, would be required for an individual paraplegic according to the degrees of his disabilities and skills. In this paper, we propose a gait pattern generation method considering the requirements of the stability and the adjustability. First, the trajectories of toe position, horizontal hip position, and foot plantar angle are calculated using a minimum jerk trajectory with the constraints of the position and velocity at via points. Second, the desired trajectories of joint angles are determined from the calculated trajectories by inverse kinematic equations. We demonstrate that generated desired trajectories for various gait parameter values and boundary conditions were satisfied with the required stability conditions.
言語 en
内容記述タイプ Abstract
出版者
言語 en
出版者 IEEE
言語
言語 eng
資源タイプ
資源タイプresource http://purl.org/coar/resource_type/c_6501
タイプ journal article
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.1109/ROMAN.2009.5326348
ISSN
収録物識別子タイプ PISSN
収録物識別子 1944-9445
書誌情報 en : The 18th IEEE International Symposium on Robot and Human Interactive Communication : RO-MAN 2009

p. 633-638, 発行日 2009-09-27
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13886
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/ROMAN.2009.5326348
識別子タイプ DOI
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