Research advances in control methods of wearable walking assist robots
As the proportion of the elderly in China increases, the need for robotic assist walking is growing. The assisted-as-needed (AAN) property of a wearable walking assist robot matches a user’s biological need and improves the flexibility, appetency and friendliness of a mechanical system. To realize A...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | zho |
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Hebei University of Science and Technology
2016-04-01
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| Series: | Journal of Hebei University of Science and Technology |
| Subjects: | |
| Online Access: | http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b201602002&flag=1&journal_ |
| _version_ | 1811193697194213376 |
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| author | Xia ZHANG Lei QIAN Wentao MA Tianhong LUO |
| author_facet | Xia ZHANG Lei QIAN Wentao MA Tianhong LUO |
| author_sort | Xia ZHANG |
| collection | DOAJ |
| description | As the proportion of the elderly in China increases, the need for robotic assist walking is growing. The assisted-as-needed (AAN) property of a wearable walking assist robot matches a user’s biological need and improves the flexibility, appetency and friendliness of a mechanical system. To realize AAN walking and aiming at realizing master/slave flexible assist, a new hybrid control method consisting of hip joint control based on central pattern generators and knee joint impedance structured control is proposed. The adaptation of a robot's master/slave motion mode to a user's physical function, the continuous switching method for knee joint impedance structured control and its stability, and the AAN effect of the Hybrid control theory are studied, which provides a new thought for the development of wearable walking assist robots. |
| first_indexed | 2024-04-12T00:13:58Z |
| format | Article |
| id | doaj.art-8c97bdc2f29f42da8e3802b54c9fb28a |
| institution | Directory Open Access Journal |
| issn | 1008-1542 |
| language | zho |
| last_indexed | 2024-04-12T00:13:58Z |
| publishDate | 2016-04-01 |
| publisher | Hebei University of Science and Technology |
| record_format | Article |
| series | Journal of Hebei University of Science and Technology |
| spelling | doaj.art-8c97bdc2f29f42da8e3802b54c9fb28a2022-12-22T03:55:53ZzhoHebei University of Science and TechnologyJournal of Hebei University of Science and Technology1008-15422016-04-0137211812310.7535/hbkd.2016yx02002b201602002Research advances in control methods of wearable walking assist robotsXia ZHANG0Lei QIAN1Wentao MA2Tianhong LUO3Department of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074, ChinaDepartment of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074, ChinaDepartment of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074, ChinaDepartment of Mechatronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074, ChinaAs the proportion of the elderly in China increases, the need for robotic assist walking is growing. The assisted-as-needed (AAN) property of a wearable walking assist robot matches a user’s biological need and improves the flexibility, appetency and friendliness of a mechanical system. To realize AAN walking and aiming at realizing master/slave flexible assist, a new hybrid control method consisting of hip joint control based on central pattern generators and knee joint impedance structured control is proposed. The adaptation of a robot's master/slave motion mode to a user's physical function, the continuous switching method for knee joint impedance structured control and its stability, and the AAN effect of the Hybrid control theory are studied, which provides a new thought for the development of wearable walking assist robots.http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b201602002&flag=1&journal_robot controlwearable walking assistHybrid controlassisted-as-neededimpedance structured controlCPG control |
| spellingShingle | Xia ZHANG Lei QIAN Wentao MA Tianhong LUO Research advances in control methods of wearable walking assist robots Journal of Hebei University of Science and Technology robot control wearable walking assist Hybrid control assisted-as-needed impedance structured control CPG control |
| title | Research advances in control methods of wearable walking assist robots |
| title_full | Research advances in control methods of wearable walking assist robots |
| title_fullStr | Research advances in control methods of wearable walking assist robots |
| title_full_unstemmed | Research advances in control methods of wearable walking assist robots |
| title_short | Research advances in control methods of wearable walking assist robots |
| title_sort | research advances in control methods of wearable walking assist robots |
| topic | robot control wearable walking assist Hybrid control assisted-as-needed impedance structured control CPG control |
| url | http://xuebao.hebust.edu.cn/hbkjdx/ch/reader/create_pdf.aspx?file_no=b201602002&flag=1&journal_ |
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