The natural frequency-based power assist control for lower body with HAL-3

Lee, S.; Sankai, Yoshiyuki

doi:10.1109/icsmc.2003.1244648

Cited by 30 publications

(10 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [26], a pneumatic-muscle exoskeleton enabled increase in step length while keeping the step frequency constant. It was demonstrated in [27] that the natural frequency of the leg around the knee joint can be modified using impedance control. Active admittance control was used to experimentally demonstrate increase in natural frequency of leg swing at the knee joint [28].…”

Section: Assistive Strategies For Human Locomotionmentioning

confidence: 99%

“…The optimization (28) finds the parameters of the exoskeleton control law (26), namely, gains on the exoskeleton angle (K θ ), angular velocity (K ω ) and filtered acceleration (K α ), as well as the cut-off frequency ω lo of the low-pass Butterworth filter in (27). The objective is to minimize the weighted sum of assistance ratio squared error and resistance ratio.…”

Section: Optimization To Achieve a Desired Assistancementioning

confidence: 99%

See 1 more Smart Citation

Integral admittance shaping: A unified framework for active exoskeleton control

Nagarajan

Aguirre-Ollinger

Goswami

2016

Robotics and Autonomous Systems

View full text Add to dashboard Cite

Section: Assistive Strategies For Human Locomotionmentioning

confidence: 99%

Section: Optimization To Achieve a Desired Assistancementioning

confidence: 99%

Integral admittance shaping: A unified framework for active exoskeleton control

Nagarajan

Aguirre-Ollinger

Goswami

2016

Robotics and Autonomous Systems

View full text Add to dashboard Cite

“…The exoskeletal robot, Robot Suit HAL (Hybrid Assistive Limb) is one of the accomplishments of Cybernics, and is developed for expanding and improving physical capability as well as supporting the daily activities of patients with reduced muscular strength [6]- [9]. HAL, as shown in Fig.…”

Section: Introductionmentioning

confidence: 99%

Bathing care assistance with robot suit HAL

Satoh

Kawabata

Sankai

2009

2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)

View full text Add to dashboard Cite

In the field of nursing care, caregivers have to bear a great burden due to assistive movements such as supporting of the care-receivers body, lifting them, moving them onto the wheel chair etc. In this paper, we focus on getting a carereceiver in and out of the bathtub, which is one of the most difficult movements for caregivers. Considering an important activity that puts a large burden on caregivers, lifting, there are many types of lifting devices available for transferring disabled people. Nevertheless it is difficult to use fixed equipment such as a mechanical lift with home care because it is expensive to rebuild the bathroom. The physical burden involved in assisting action in the field of nursing care can be greatly reduced by wearing the HAL (Hybrid Assistive Limb) full-body type. The objectives of this paper are to propose a new method of bathing care assistance using the robot suit HAL, to develop the upper half body of HAL, which reduces the physical burden on the wearer's upper limbs, and to show its effectiveness through an experiment. The study focused on reducing the trunk inclination angle, which is related to the physical load around the lumbar spine. The new method mainly uses the caregiver's upper limb to support the weight of the care-receiver. Therefore, we built a mechanism which locks the power unit of a HAL joint to assist the motor function of the wearer's upper limbs. To confirm the effectiveness of the proposed method, we demonstrated that the mechanisms of the power units kept the angles of the upper limbs steady while the wearer held a weight of 50(kg), and that the physical burden on the upper limb of the wearer was reduced. As a results of this experiment, we confirmed the effectiveness of the proposed method.

show abstract

“…For the sake of them, the control system must achieve an impedance matching between human and robot. This system is executed in field of not only cooperative work system such as assisting and rehabilitation robots [1,[4][5] but also power-assist system such as Power suit and Extender to amplify human force [1,[6][7][8].…”

Section: Introductionmentioning

confidence: 99%

Speed Characteristic of A New Type Ultrasonic-motor and Impedance Matching System by Novel Method

Kim

Watanabe

Kim

et al. 2006

2006 SICE-ICASE International Joint Conference

View full text Add to dashboard Cite

An impedance of rehabilitation and assisting robot should be matched with that of human in order to carry out cooperative works harmoniously. If not so, we could not set our expectations highly to get stability and effectivity in the cooperative works of human-robot. In this paper, we develop the cooperative work system to adjust the impedance of a robot driven by ultrasonic motor (USM) to that of human's arm. There is reason to adopt a USM for the robot's actuator. It has many good characteristics like high torque at low speed. When we use the adjusting phase difference method among the various control methods of USM, we have to consider cautiously how to set the value of the driving frequency because the characteristics of USM is changed according to which value of the driving frequency is set. Therefore, we suggested a novel method that the suitable driving frequency is supplied according to each the phase difference. Using this method, we could change the mechanical impedance of USM such as viscosity and stiffness. To evaluate the proposed cooperative work system, we conduct the two types of tasks.

show abstract

The natural frequency-based power assist control for lower body with HAL-3

Cited by 30 publications

References 5 publications

Integral admittance shaping: A unified framework for active exoskeleton control

Integral admittance shaping: A unified framework for active exoskeleton control

Bathing care assistance with robot suit HAL

Speed Characteristic of A New Type Ultrasonic-motor and Impedance Matching System by Novel Method

Contact Info

Product

Resources

About