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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

A human interface for stride control on a wearable robot

http://hdl.handle.net/2237/13887
1f72aef3-2783-4fc1-a7bf-27da453cf90c
名前 / ファイル ライセンス アクション
IROS.pdf IROS.pdf (667.9 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 A human interface for stride control on a wearable robot
著者 Kagawa, Takahiro

× Kagawa, Takahiro

WEKO 38066

Kagawa, Takahiro

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Uno, Yoji

× Uno, Yoji

WEKO 38067

Uno, Yoji

Search repository
権利
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 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.
内容記述タイプ Abstract
出版者
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
ISBN
関連識別子
識別子タイプ ISBN
関連識別子 978-1-4244-3803-7
書誌情報 IEEE/RSJ International Conference on Intelligent Robots and Systems : IROS 2009

p. 4067-4072, 発行日 2009-10-15
フォーマット
application/pdf
著者版フラグ
値 publisher
URI
識別子 http://hdl.handle.net/2237/13887
識別子タイプ HDL
URI
識別子 http://dx.doi.org/10.1109/IROS.2009.5353899
識別子タイプ DOI
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