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Gait pattern generation for a power-assist device of paraplegic gait
http://hdl.handle.net/2237/13886
http://hdl.handle.net/2237/13886f986b9fd-4a04-4350-bed8-bc997731b4cf
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Ro-man.pdf (401.9 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 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× Uno, Yoji |
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| 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 | ||||||
| 内容記述タイプ | Abstract | |||||
| 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 | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 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 | |||||
| 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 |
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| フォーマット | ||||||
| 値 | 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 | |||||
