An Analysis of Human Motion for Control of a Wearable Power Assist System

Satoshi Kawai; Keitaro Naruse; Hiroshi Yokoi; Yukinori Kakazu

doi:10.20965/jrm.2004.p0237

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JRM Vol.16 No.3 pp. 237-244

doi: 10.20965/jrm.2004.p0237

(2004)

Paper:

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An Analysis of Human Motion for Control of a Wearable Power Assist System

Satoshi Kawai, Keitaro Naruse, Hiroshi Yokoi,
and Yukinori Kakazu

Complex Systems Engineering, Hokkaido University, Kita-13 Nishi-8, Sapporo 060-8628, Japan

Received:

October 17, 2003

Accepted:

January 22, 2004

Published:

June 20, 2004

Keywords:

power assisting device, wearable robotics, electromiogram (EMG)

Abstract

The purpose of this study is to build a control system for a wearable power assisting device, which helps people with lifting heavy things, like a person who can’t move alone in daily life. When we lift something heavy, we use both hands. That’s why a control system that can automatically switch on/off without using hands is necessary. In this study, we analyze human lifting up motion, and reveal characteristics of the motion, to find the suitable timing for switching the wearable power assisting device. Results show that the automatic switching can be realized.

Cite this article as:

S. Kawai, K. Naruse, H. Yokoi, and Y. Kakazu, “An Analysis of Human Motion for Control of a Wearable Power Assist System,” J. Robot. Mechatron., Vol.16 No.3, pp. 237-244, 2004.

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References

[1] T. Inoue, and N. Yamazaki, “Physical loads while using moving assisting devices,” Journal of the Society of Biomechanisms, Vol.25, No.3, pp. 123-129, 2001 (in Japanese).
[2] J. Main, “Exoskeletons for Human Performance Augmentation,”
http://www.darpa.mil/dso/thrust/matdev/ehpa.htm.
[3] K. Yamamoto, K. Hyodo, M. Ishii, and T. Matsuo, “Development of Power Assisting Suit for Assisting Nurse Labor,” Transactions of the Japan Society of Mechanical Engineers, Vol.67, No.657, pp. 1499-1506, 2001 (in Japanese).
[4] K. Yamamoto, K. Hyodo, M. Ishii, T. Matsuo, and K. Sawada, “Load Cell and Rotary Actuator using Pressure Cuff,” FLUCOM2000, 2000.
[5] S. Morishita, T. Tanaka, K. Yamafuji, and N. Kanamori, “Improvement of Maneuverability of the Man-Machine System for Wearable Nursing Robots,” Journal of Robotics and Mechatronics, Vol.11, No.6, pp. 461- 467, 1999.
[6] T. Aoki, and K. Taguchi, “A Study of Human-Assist-Robot –Development of a Prototype Robot for Nursing Use–,” Journal of the Robotics Society of Japan, Vol.21, No.2, pp. 157-163, 2003 (in Japanese).
[7] S. Lee, and Y. Sankai, “Power Assist Control for Walking Aid with HAL-3 Based on EMG and Impedance Adjustment around Knee Joint,” 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2002), pp. 1499-1504, 2002.
[8] H. Kawamoto, and Y. Sankai, “Power Assist System HAL-3 for Gait Disorder Person,” LNCS 2398, p. 196, 2002.
[9] D. B. Chaffin, G. B. J. Andersson, and B. J. Martin, “Occupational biomechanics third edition,” Wiley-interscience, 1999.
[10] K. Naruse, S. Kawai, H. Yokoi, and Y. Kakazu, “Design of compact and lightweight wearable power assist device,” ASME International Mechanical Engineering Congress & Exposion, 2003.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Inoue, and N. Yamazaki, “Physical loads while using moving assisting devices,” Journal of the Society of Biomechanisms, Vol.25, No.3, pp. 123-129, 2001 (in Japanese).

[2] [2] J. Main, “Exoskeletons for Human Performance Augmentation,”
http://www.darpa.mil/dso/thrust/matdev/ehpa.htm.

[3] [3] K. Yamamoto, K. Hyodo, M. Ishii, and T. Matsuo, “Development of Power Assisting Suit for Assisting Nurse Labor,” Transactions of the Japan Society of Mechanical Engineers, Vol.67, No.657, pp. 1499-1506, 2001 (in Japanese).

[4] [4] K. Yamamoto, K. Hyodo, M. Ishii, T. Matsuo, and K. Sawada, “Load Cell and Rotary Actuator using Pressure Cuff,” FLUCOM2000, 2000.

[5] [5] S. Morishita, T. Tanaka, K. Yamafuji, and N. Kanamori, “Improvement of Maneuverability of the Man-Machine System for Wearable Nursing Robots,” Journal of Robotics and Mechatronics, Vol.11, No.6, pp. 461- 467, 1999.

[6] [6] T. Aoki, and K. Taguchi, “A Study of Human-Assist-Robot –Development of a Prototype Robot for Nursing Use–,” Journal of the Robotics Society of Japan, Vol.21, No.2, pp. 157-163, 2003 (in Japanese).

[7] [7] S. Lee, and Y. Sankai, “Power Assist Control for Walking Aid with HAL-3 Based on EMG and Impedance Adjustment around Knee Joint,” 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2002), pp. 1499-1504, 2002.

[8] [8] H. Kawamoto, and Y. Sankai, “Power Assist System HAL-3 for Gait Disorder Person,” LNCS 2398, p. 196, 2002.

[9] [9] D. B. Chaffin, G. B. J. Andersson, and B. J. Martin, “Occupational biomechanics third edition,” Wiley-interscience, 1999.

[10] [10] K. Naruse, S. Kawai, H. Yokoi, and Y. Kakazu, “Design of compact and lightweight wearable power assist device,” ASME International Mechanical Engineering Congress & Exposion, 2003.

An Analysis of Human Motion for Control of a Wearable Power Assist System

Satoshi Kawai, Keitaro Naruse, Hiroshi Yokoi, and Yukinori Kakazu

Satoshi Kawai, Keitaro Naruse, Hiroshi Yokoi,
and Yukinori Kakazu