歩行シミュレータとそのコントロールのための歩行動作予測

概要

論文の詳細を見る
We developed a gait simulator, which can reproduce various types of walking such as, walking straight, turning, going up and down stairs and other types of motion. The main component of this gait simulator is two foot plates driven by three arms and actuators. For example, each foot plate follows the foot during the swing phase and pulls it back during the stance phase while the user is walking straight. This gait simulator, however, has one weakness in that it cannot sufficiently follow gait mode change in walking start and stop transitions. To solve this problem, it is necessary to predict the change of gait mode to follow the transition perfectly. In this paper, we chose the start and stop of straight walking and tried to measure the gait mode transition. To do this we focused on the anterior bending of the upper body. It was expected that the body bends forward before walking starts and bends back before walking stops. In the experiment, the distance between the upper body and the center of gravity (COG) was measured. The measurement of this distance proved useful in knowing the transition of straight walking. We examined the result again on the gait simulator. The implanted control algorithm of the gait simulator is as follows: It was predicted that when walking starts, two foot plates pull back the feet and when it stops, so do the plates. Results show that the gait simulator was able to reproduce the walking start and stop transition by this prediction algorithm.
社団法人日本生体医工学会の論文
2003-12-10

歩行シミュレータとそのコントロールのための歩行動作予測

スポンサーリンク

概要

著者

関連論文

スポンサーリンク