JRM Vol.25 No.6 pp. 915-922
doi: 10.20965/jrm.2013.p0915


Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators

Motonobu Sato*, Eiichi Yagi*, and Kazuo Sano**

*Faculty of System Engineering, Wakayama University, 930 Sakaedani, Wakayama-shi, Wakayama 640-8510, Japan

**Wakayama National College of Technology, 77 Nojima, Nadacho, Gobo-shi, Wakayama 644-0023, Japan

April 25, 2013
October 24, 2013
December 20, 2013
power assist control, pneumatic actuator, human model, walking motion, joint angle
This paper describes a method for power assist control that calculates the joint torques necessary to support an assist suit wearer’s walking. We approximate the body using a multijoint rigid link model. Joint support torques are calculated based on this model using the hip, knee and ankle angles of the wearer. Results of experiments show the effectiveness of proposed control method.
Cite this article as:
M. Sato, E. Yagi, and K. Sano, “Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators,” J. Robot. Mechatron., Vol.25 No.6, pp. 915-922, 2013.
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