Design of the force-sensors system of WPAL

The Wearable Power Assist Leg(WPAL) in Feng Chen, et al, (2007) is designed for normal human power augmentation during walking. In this paper, the Force-sensors system of the WPAL has been theoretically analyzed and technically realized in order to gain the interactive movement information of human-robot system for the aim of estimating the operator's intentions and realizing to provide enough assistive power for the operator to amplify the strength and endurance of human leg. After analyzing the necessary interactive information which is used to control the WPAL system, the Force-sensor system has been designed to include the leg reaction force (LRF) sensors, the ground reaction force (GRF) sensors, and the joint angle sensors measuring the joint angles of WPAL for gaining the contact force information and the joint information of the human-robot system. The experiment results showed that the multi-sensor perceptual system performed stably and provided the safeguard for the control of the WPAL.

[1]  Jian Sun,et al.  WPAL for Enhancing Human Strength and Endurance during Walking , 2007, 2007 International Conference on Information Acquisition.

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

[3]  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..

[4]  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).

[5]  Jian Sun,et al.  WPAL for Human Power Assist during Walking Using Pseudo-compliance Control , 2007, 2007 International Conference on Mechatronics and Automation.

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

[7]  Baoyuan Wu,et al.  A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[8]  Yong Yu,et al.  Force Analysis of Arm Wrestling Entertainment System and its Application to Control Design , 2006, 2006 International Conference on Mechatronics and Automation.

[9]  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).

[10]  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.