10A-E-4 Adaptive Control Algorithm with Parameter Optimization Using Neural Networks for an Omni-directional Walker(Room E International session)
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概要
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An omni-directional walker, which is able to realize diverse motion groups, has been developed for walking rehabilitation. In a previous study, an adaptive control algorithm was developed to deal with the center of gravity shift and the load changes caused by the users. However, the control parameters in the nonlinear adaptive control law were manually adjusted, which led to lower accuracy. In this paper, a neural network for automatically adjustment of the adaptive control parameters is proposed. According to the rehabilitation program designed by the physical therapists, we simulate the walker's movement along a linear path. The simulation results verify the effectiveness of the parameter optimization using neural network.
- 2010-10-09
著者
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ISHIDA Kenji
Department of Physics, Graduate School of Science, Kyoto University
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Ishida Kenji
Department Of Physical Medicine And Rehabilitation Kochi University
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WANG SHUOYU
Department of Intelligent Mechanical Systems, Kohchi University of Technology
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Fujie Masakatsu
Department Of Modern Mechanical Engineering Waseda University
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Fujie Masakatsu
Department Of Mechanical Engineering Waseda University
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TAN Renpeng
Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology
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JIANG Yinlai
Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology
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Wang Shuoyu
Department Of Intelligent Mechanical Systems Engineering Kochi University Of Technology
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Jiang Yinlai
Department Of Intelligent Mechanical Systems Engineering Kochi University Of Technology
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Tan Renpeng
Department Of Intelligent Mechanical Systems Engineering Kochi University Of Technology
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Ishida Kenji
Department Of Chemical Science And Engineering Graduate School Of Engineering Kobe University
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Ishida Kenji
Department of Applied Chemistry, Ibaraki University
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