Adaptive controller for motion control of a seated walking training machine

Yuto Watanabe; Shuoyu Wang; Kenji Ishida; Renpeng Tan; Yinla Jiang; Masakatsu Fujie

doi:10.1109/ICMA.2011.5985669

Adaptive controller for motion control of a seated walking training machine

Yuto Watanabe^*, Shuoyu Wang, Kenji Ishida, Renpeng Tan, Yinla Jiang, Masakatsu Fujie

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and used in simulations. First, the kinematics and the kinetics of the seated walking training machine motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in simulation experiments demonstrates the feasibility and effectiveness of the proposed adaptive control method.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	271-275
Number of pages	5
DOIs	https://doi.org/10.1109/ICMA.2011.5985669
Publication status	Published - 2011
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing Duration: 2011 Aug 7 → 2011 Aug 10

Other

Other	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
City	Beijing
Period	11/8/7 → 11/8/10

Keywords

Center-of-gravity shift
Omni-direction
Path tracking
Seated walking training machine

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering

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10.1109/ICMA.2011.5985669

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Watanabe, Y, Wang, S, Ishida, K, Tan, R, Jiang, Y & Fujie, M 2011, Adaptive controller for motion control of a seated walking training machine. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985669, pp. 271-275, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, 11/8/7. https://doi.org/10.1109/ICMA.2011.5985669

@inproceedings{11318f3b851f43a48d57ca9dd95ab699,

title = "Adaptive controller for motion control of a seated walking training machine",

abstract = "Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and used in simulations. First, the kinematics and the kinetics of the seated walking training machine motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in simulation experiments demonstrates the feasibility and effectiveness of the proposed adaptive control method.",

keywords = "Center-of-gravity shift, Omni-direction, Path tracking, Seated walking training machine",

author = "Yuto Watanabe and Shuoyu Wang and Kenji Ishida and Renpeng Tan and Yinla Jiang and Masakatsu Fujie",

year = "2011",

doi = "10.1109/ICMA.2011.5985669",

language = "English",

isbn = "9781424481149",

pages = "271--275",

booktitle = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 07-08-2011 Through 10-08-2011",

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TY - GEN

T1 - Adaptive controller for motion control of a seated walking training machine

AU - Watanabe, Yuto

AU - Wang, Shuoyu

AU - Ishida, Kenji

AU - Tan, Renpeng

AU - Jiang, Yinla

AU - Fujie, Masakatsu

PY - 2011

Y1 - 2011

N2 - Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and used in simulations. First, the kinematics and the kinetics of the seated walking training machine motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in simulation experiments demonstrates the feasibility and effectiveness of the proposed adaptive control method.

AB - Medical rehabilitation is vital for recovery from various injuries and illnesses, and walking is a necessary basic function in daily life. A seated walking training machine is being developed for people who cannot stand up to receive walking rehabilitation. However, during training or other movement using this training machine, a path tracking error occurs due to a center-of-gravity shift caused by the user. In this paper, an adaptive control method is proposed and used in simulations. First, the kinematics and the kinetics of the seated walking training machine motion are described. Second, the adaptive control strategy is presented. Finally, path tracking simulations are carried out using the proposed method. Comparison with proportional-integral-derivative (PID) control in simulation experiments demonstrates the feasibility and effectiveness of the proposed adaptive control method.

KW - Center-of-gravity shift

KW - Omni-direction

KW - Path tracking

KW - Seated walking training machine

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BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Y2 - 7 August 2011 through 10 August 2011

ER -

Adaptive controller for motion control of a seated walking training machine

Abstract

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Keywords

ASJC Scopus subject areas

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