WPAL for Human Power Assist during Walking Using Pseudo-compliance Control

The walking power assist leg (WPAL) is designed for normal human power augmentation during walking. WPAL tackles three fundamental problems. First, the architectural design is studied using ergonomics. Second, WPAL must understand the user motion intention. Then, the control algorithm is also investigated. In order to make WPAL work smoothly and provide power assist for user, we proposed a method based on multi-sensor data fusion to understand the user motion intention. And, a control method of pseudo-compliance is also proposed. We can adjust the coefficient of mass, damp and spring to change power assist supply for user during walking. Correlative experimental result shows the effectiveness of the control method.

[1]  Homayoon Kazerooni,et al.  Exoskeletons for human power augmentation , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Yoshihiro Miyake,et al.  Co-emergence process on the humans' cooperation for walk-support , 2003, Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation. Computational Intelligence in Robotics and Automation for the New Millennium (Cat. No.03EX694).

[3]  Y. Sankai,et al.  Power assist method based on phase sequence driven by interaction between human and robot suit , 2004, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759).

[4]  Keijiro Yamamoto,et al.  Development of Power Assisting Suit for Assisting Nurse Labor , 2002 .

[5]  T. Nakamura,et al.  Control of model-based wearable anti-gravity muscles support system for standing up motion , 2005, Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..

[6]  Yoshiyuki Sankai,et al.  Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.

[7]  Yoshiyuki Sankai,et al.  Predictive control estimating operator's intention for stepping-up motion by exo-skeleton type power assist system HAL , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[8]  Hayashi,et al.  [IEEE 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems - Edmonton, Alta., Canada (2005.08.2-2005.08.2)] 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems - Control method of robot suit HAL working as operator\'s muscle using biological and dynamical inf , 2005 .

[9]  Yoshiyuki Sankai,et al.  Power assist method for HAL-3 estimating operator's intention based on motion information , 2003, The 12th IEEE International Workshop on Robot and Human Interactive Communication, 2003. Proceedings. ROMAN 2003..

[10]  B J Makinson.  Research and Development Prototype for Machine Augmentation of Human Strength and Endurance. Hardiman I Project , 1971 .

[11]  Jerry E. Pratt,et al.  The RoboKnee: an exoskeleton for enhancing strength and endurance during walking , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[12]  Adam Zoss,et al.  On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  M. Ishii,et al.  Stand alone wearable power assisting suit - sensing and control systems , 2004, RO-MAN 2004. 13th IEEE International Workshop on Robot and Human Interactive Communication (IEEE Catalog No.04TH8759).

[14]  Isao Nakanishi,et al.  Force analysis of exoskeletal robotic orthoses and its application to mechanical design , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[15]  Yong Yu,et al.  Dynamic Model and Motion Control Analysis of the Power Assist Intelligence Leg , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[16]  Yoshiyuki Sankai,et al.  Control method of robot suit HAL working as operator's muscle using biological and dynamical information , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.