For the person having functional disorder in their legs, we have developed Hybrid Assistive Leg(HAL). The purpose of this study is to propose the method to control HAL. In this method, according to human walking, the ...
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We have developed the power assistive suit, HAL (Hybrid Assistive Leg) which provide the self-walking aid for gait disorder persons or aged persons. In this paper, We introduce HAL-3 system, improving HAL-1,2 systems ...
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We have developed the power assist suit HAL (Hybrid Assistive Leg) which provide the self-walking aid for gait disorder persons or aged persons. The power assist was performed according to the operator's intention...
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We have developed the power assist suit HAL (Hybrid Assistive Leg) which provide the self-walking aid for gait disorder persons or aged persons. The power assist was performed according to the operator's intention by using myoelectricity(EMG) signal as the primary command signal. However, there remains the problem that the operator senses the discomfort while the power assist is performed by EMG-based control. The scope of the present research is to propose the control methods to reduce the discomfort which the operator sense while the EMG-based power assist is performed in walking and standing up respectively;1) the control method that the integrated motion between HAL-3 and the operator corresponds with the particularity of operator's musculo-skeletal system while in the power assist walking, 2)the predictive control method applying feedforward controller to remove the discomfort while in standing up. As the result, the power assist walking was performed corresponding to the joint kinematics of the normal walking without the assistance. Applying feedforward controller realized the quick response while in standing up power assist. These control methods enabled HAL-3 to realize the power assist that the operator sensed the reduce of discomfort.
The purpose of this research is to propose a quantitative analysis method to analyze the relationship between the feedforward controller and feedback controller in a motion learning process, and also to assess the eff...
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The purpose of this research is to propose a quantitative analysis method to analyze the relationship between the feedforward controller and feedback controller in a motion learning process, and also to assess the effectiveness of this method by experiments. To analyze the mechanisms of the motion control systems, we propose: 1) a control gain identification method, 2) a squared-error separation method, 3) a gradient separation method, and 4) a pattern correlation method. The inverted pendulum is used to evaluate the effectiveness of these methods. Experiments show that the proposed methods are an effective way to separate the motor control system into feedforward control and feedback control. They also disclose the fact that there are two learning processes; one of which mainly performs feedback control and the other mainly feedforward control.
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