2013 Fiscal Year Final Research Report
Development of sensing and control systems of a wearable robot to assist paraplegic gait in various road surface
| Project/Area Number |
23560526
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Nagoya University |
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Principal Investigator |
UNO Yoji 名古屋大学, 工学(系)研究科(研究院), 教授 (10203572)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 装着型ロボット / 下肢麻痺患者 / 歩行補助 / 転倒予防 / 知能ロボティクス / 歩行器 |
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| Research Abstract |
Paraplegic patients who were injured on the spinal cord cannot walk and must use wheelchairs for locomotion. We have developed sensing and control systems of a wearable robot to assist paraplegic gait in various road surface. It is important in walking reconstruction with a wearable robot to prevent backward falling. We constructed a measurement system of ground reaction force, and proposed a control method to adjust the timing of swing motion on the basis of zero-moment-point (ZMP). Our system has three functions (1) sensing of a bump from a movement of a walker, (2) detecting a foot placement state related to the bump and (3) generating gait patterns of stepping up and down for the bump. Walking experiments of healthy subjects wearing the robot were carried out and the stability of the system was confirmed.
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