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

Paper:

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

Received:
April 25, 2013
Accepted:
October 24, 2013
Published:
December 20, 2013
Keywords:
power assist control, pneumatic actuator, human model, walking motion, joint angle
Abstract

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:
Motonobu Sato, Eiichi Yagi, and Kazuo 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.
Data files:
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