ICRA 2011 Paper Abstract


Paper WeP208.6

Zhang, Xia (Shinshu University), Hashimoto, Minoru (Shinshu University)

Inhibitory Connections between Neural Oscillators for A Robotic Suit

Scheduled for presentation during the Regular Sessions "Rehabilitation Robotics IV" (WeP208), Wednesday, May 11, 2011, 16:40−16:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Physical Human-Robot Interaction, Rehabilitation Robotics


Incorporation of inhibitory connections between neural oscillators is proposed for walking stability assistance of a walking assist suit. Neural oscillators are connected to each joint of suit to synchronize suitís motion with human userís motion through mutual entrainment. At the same time, considering the stability assistance, inhibitory connections are incorporated between the left and right neural oscillators at each joint to maintain a human-gait-like anti-phase relationship. We developed a 2-DOF walking assist suit, which consists of two actuators fixed to the places where the human hip joints are. Each actuator has a built-in harmonic drive gear which is equipped with a torque sensor fixed on the flex-spline. The torque sensor helps to measure mutual joint torque between human and suitís motions. The neural oscillators connected to each joint control each actuator through synchronizing with the feedback mutual-torque signals from suit-human interaction. We have conducted walking experiments to show whether: 1) synchronized motion between the assist suit and human user is realized; 2) stability assistance is implemented; 3) there is an assist effect during assistant walking. The results showed the validity of using synchronization based control with stability consideration for walking assist suit.



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