Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement

Takao Watanabe; Eiichi Ohki; Yo Kobayashi; Masakatsu G. Fujie

doi:10.1109/ROBOT.2010.5509514

Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement

Takao Watanabe^*, Eiichi Ohki, Yo Kobayashi, Masakatsu G. Fujie

^*Corresponding author for this work

Waseda Research Institute for Science and Engineering

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

6 Citations (Scopus)

Abstract

A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	2235-2240
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2010.5509514
Publication status	Published - 2010
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK Duration: 2010 May 3 → 2010 May 7

Other

Other	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
City	Anchorage, AK
Period	10/5/3 → 10/5/7

ASJC Scopus subject areas

Software
Artificial Intelligence
Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ROBOT.2010.5509514

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Watanabe, T, Ohki, E, Kobayashi, Y & Fujie, MG 2010, Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement. in Proceedings - IEEE International Conference on Robotics and Automation., 5509514, pp. 2235-2240, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509514

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abstract = "A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.",

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year = "2010",

doi = "10.1109/ROBOT.2010.5509514",

language = "English",

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AU - Kobayashi, Yo

AU - Fujie, Masakatsu G.

PY - 2010

Y1 - 2010

N2 - A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.

AB - A movable body weight support (BWS) system for overground walking has limitations with respect to power and space for actuators. To solve this problem, a novel method by which to estimate the gait cycle from pelvic movement and feed forward control for leg-dependent force control are proposed. Based on an experiment on gait cycle estimation, a method of estimating heel contact timing from pelvic rotation is proposed. In addition, based on an experiment on leg-dependent force control, the developed feed forward control method is evaluated based on the vertical floor reaction force.

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AN - SCOPUS:77955783552

SN - 9781424450381

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BT - Proceedings - IEEE International Conference on Robotics and Automation

T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010

Y2 - 3 May 2010 through 7 May 2010

ER -

Leg-dependent force control for body weight support by gait cycle estimation from pelvic movement

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