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This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower...
This paper introduces a cooperative control algorithm that designs a stable biped walk satisfying a wearer's intention relating to his/her walk such as a timings to start and stop walking, walking speed and waking direction. Using this algorithm an exoskeletal walking support system could help a paraplegia patient walking comfortablly. At first, a pair of gloves with several DOFs is developed to convey...
This paper proposes a standing-up motion support system for complete paraplegic patients who cannot stand up by himself/herself due to a spinal cord injury. The standing-up motion is the first step for us to move somewhere inside and outside in our daily life. Therefore, the standing-up motion support is indispensable for patients to promote his/her independent life. The proposed support system using...
The applicative field of activities of robots who have only one locomotion strategy is limited. As means of enhancing the mobile range, it is necessary to have various locomotion modes. Therefore, we focus on dynamic transitions between several kinds of locomotion modes adapting to environmental changes. In this paper, we aim to realize stable locomotion along some unknown test courses consisting...
This paper introduces a vertical ladder climbing of the humanoid robot only by the posture control without any external sensors. The humanoid robot does not have any special structure for fixing the body to the ladder. The robot maintains the body on the ladder by its grippers like human does. As a problem of this locomotion, a free gripper position of the climbing robot is not controllable because...
An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint...
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