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IJAT Vol.3 No.6 pp. 741-749
doi: 10.20965/ijat.2009.p0741
(2009)

Paper:

Interaction Approach for Movement-Assist Control Using Neural Oscillators

Xia Zhang and Minoru Hashimoto

Department of Bioscience and Textile Technology, Interdisciplinary Graduate School of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan

Received:
June 18, 2009
Accepted:
July 27, 2009
Published:
November 5, 2009
Keywords:
movement assist, synchronization-based control, neural oscillator
Abstract

In this paper we propose a framework of realizing natural assist behavior with a movement-assist suit inspired by human interaction. Since human interaction can be thought as synchronization behavior common in movement assistance between human beings, to achieve human-like movement assistance, synchronization-based control is applied to a movement-assist suit. We use neural oscillators to entrain and synchronize suit movement with that of users. To determine validity and feasibility, we examine the proposal for whether (1) synchronization of action between human and movement-assist suit can be realized, (2) the assist effect can be obtained, and (3) the proposed method is comfortable for users. To determine these points, we simulated movement assistance and conducted experiments with a joint-torque-sensing assist suit. Results demonstrated that synchronized movement was realized and that a movement-assistance effect was implemented. Results of evaluation experiments showed the good usability the suit has as proposed, confirming the proposal’s applicability and performance.

Cite this article as:
X. Zhang and M. Hashimoto, “Interaction Approach for Movement-Assist Control Using Neural Oscillators,” Int. J. Automation Technol., Vol.3, No.6, pp. 741-749, 2009.
Data files:
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