Abstract
With the growth of elderly population in our society, intelligent walking aids will play an important role in providing functional mobility to humans. In this paper, we propose a model to compute gait of humans walking with a robot helper. This model is aimed at designing a control system for the robot walking helper. The human model includes both the single support phase and impacts. Since a human will be walking along with the robot with its help, geometrical constraints and interaction forces are included. To achieve stable walking, zero moment point (ZMP) is utilized in the analysis and friction constraint is included within the reaction force from the ground. Simulations are performed to obtain optimal gait trajectories, the human applied joint torques, and the supporting forces from the robot walking helper.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Yu, H., Spenko, M., Dubowsky, S.: An adaptive shared control system for an intelligent mobility aid for the elderly. Auton. Robots 15(1), 53–66 (2003)
Chuy, O., Hirata, Y., Wang, Z., Kosuge, K.: A control approach based on passive behavior to enhance user interaction. IEEE Trans. Robotics 23(5), 899–908 (2007)
Rentschler, A.J., Cooper, R.A., Blaschm, B., Boninger, M.L.: Intelligent walkers for the elderly: Performance and safety testing of VA-PAMAID robotic walker. J. Rehab. Res. Dev. 40(5), 423–432 (2003)
Wasson, G., Sheth, P., Alwan, M., Granata, K., Ledoux, A., Huang, C.: User intent in a shared control framework for pedestrian mobility aids. In: Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., pp. 2962–2967 (2003)
Sabatini, A.M., Genovese, V., Pacchierotti, E.: A mobility aid for the support to walking and object transportation of people with motor impairments. In: Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., pp. 1349–1354 (2002)
Spenko, M., Yu, H., Dubowsky, S.: Robotic personal aids for mobility and monitoring for the elderly. IEEE Transactions on Neural Systems and Rehabilitation Engineering 14(3), 344–351 (2006)
Hirata, Y., Hara, A., Kosuge, K.: Motion control of passive intelligent walker using servo brakes. IEEE Trans. Robotics 23(5), 981–990 (2007)
Ryu, J.C., Pathak, K., Agrawal, S.K.: Control of a passive mobility assist robot. Journal of Medicial Devices 2, 011002 (7 pages) (2008)
Yu, S.H., Ko, C.H., Young, K.Y.: On the design of a robot walking helper with human intension and envoronmental sensing. In: Proc. CACS Int. Auto. Cont. Conf. (2008)
Ko, C.H., Agrawal, S.K.: Control and path planning of a walk-assist robot using differential flatness. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6016–6021 (2010)
Hirata, Y., Komatsuda, S., Kosuge, K.: Fall prevention control of passive intelligent walker based on human model. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1222–1228 (2008)
Hirata, Y., Komatsuda, S., Iwano, T., Kosuge, K.: Motion control of walking assist robot system based on human model. In: International Conference on Biomedical Engineering, pp. 2232–2236 (2008)
Nakano, K., Murakami, T.: An approach to guidance motion by gait-training equipment in semipassive walking. IEEE Trans. Industrial Electronics 55(4), 1707–1714 (2008)
Chevallereau, C., Djoudi, D., Grizzle, J.W.: Stable bipedal walking with foot rotation through direct regulation of the zero moment point. IEEE Trans. Robotics 24(2), 390–401 (2008)
Agrawal, A., Agrawal, S.K.: An approach to identify joint motions for dynamically stable walking. Journal of Mechanical Design, Transactions of ASME 128, 649–653 (2006)
Tlalolini, D., Aoustin, Y., Chevallereau, C.: Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization. Multibody Syst. Dyn. 23(1), 33–56 (2010)
Chevallereau, C., Aoustin, Y.: Optimal reference trajectories for walking and running of a biped robot. Robotica 19(5), 557–569 (2001)
Wu, T.-Y., Yeh, T.-J.: Optimal design and implementation of an energy-efficient semi-active biped. Robotica 27(6), 841–852 (2009)
Grizzle, J.W., Abba, G., Plestan, F.: Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Tran. on Automatoc Control 46(1), 51–64 (2001)
Hurmuzlu, Y., Marghitu, D.B.: Rigid body collisions of planar kinematic chains with multiple contact points. Int. J. Robot. Res. 13(1), 82–92 (1994)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Ko, CH., Young, KY., Agrawal, S.K. (2013). Gait Analysis for a Human with a Robot Walking Helper. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_57
Download citation
DOI: https://doi.org/10.1007/978-3-642-33926-4_57
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33925-7
Online ISBN: 978-3-642-33926-4
eBook Packages: EngineeringEngineering (R0)