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Power of Assist Control based on Wearer's Forearm using Motion Estimation Motion Sensor
http://hdl.handle.net/10098/10011
http://hdl.handle.net/10098/10011ef1de2c9-896a-42e7-8c4f-d66598bd6940
名前 / ファイル | ライセンス | アクション |
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10098-1011.pdf (1.2 MB)
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c 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2016-10-31 | |||||
タイトル | ||||||
タイトル | Power of Assist Control based on Wearer's Forearm using Motion Estimation Motion Sensor | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | power assist control | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | motion sensor | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
Sahashi, Katsuya
× Sahashi, Katsuya× Nomura, Shinnosuke× Inoue, Takuya× Takahashi, Yasutake× Taniai, Yoshiaki× Kawai, Masayuki |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | Powered exoskeletons are becoming popular especially in fields of nursing care and agriculture. We have been developing a powered exoskeleton that is supposed to be used in case of a nuclear hazard. Conventional powered exoskeletons typically use electromyographs (EMG), force switches, or force sensors on the wear's feet. Unfortunately, the former suffers from the decline in measuring accuracy or slips of EMG sensor by sweating. The force-switch-based assist control method has a difficulty in speedy assist control of walk because it needs a few steps of a walk for the recognition. The force-sensorbased assist control method realizes a rapid assist control but the assistive motion is defined beforehand in general. We propose a new approach for power assist controller based on user motion prediction using 9 axis motion sensor. The motion sensor detects the angle and angular velocity of the wear's limb and estimates the appropriate angle of the powered attachment according to the estimated motion. This report conducts experiments with one degree of freedom powered arm to evaluate the proposed method by EMG sensors and a force sensor. | |||||
書誌情報 |
Proceedings of 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems(SCIS & ISIS 2016) 巻 2016, p. 649-654, 発行日 2016-08 |
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出版者 | ||||||
出版者 | IEEE | |||||
書誌レコードID | ||||||
識別子タイプ | NCID | |||||
関連識別子 | TD00007915 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |