tailieunhanh - Advances in Human Robot Interaction Part 10

Tham khảo tài liệu 'advances in human robot interaction part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 214 Advances in Human-Robot Interaction b Shank Link a Foot Link b Upper Body Link a Thigh Link Fig. 6. Translational Acceleration During Walking Preliminary experiments To investigate the validity of the proposed method for measuring the inclination of the link we conducted two preliminary experiments. One is standing up and sitting down motions and the other is walking. During two experiments we measured the inclination of the Upper Body Link using the accelerometer and joint angles using potentiometers and then calculated the inclination of Foot Link using measured values. At the same time we also captured the positions of markers attached to some parts of body of the user by using the Motion Capturing System VICON460 and calculated the inclination of Upper Body Link for comparing it to the measured inclination using the accelerometer. Experimental results are shown in Fig. 7 and Fig. 8. As shown in Fig. 7 a inclinations with the accelerometer and Motion Capturing System are almost the same. Fig. 7 b shows that inclination of Foot Link is approximately 90 degrees all through the motion. During walking the inclination of Upper Body Link measured with the accelerometer is close to that of the value with the Motion Capturing System as shown in Fig. 8 a . From Fig. 8 b the inclination of Foot Link which was conventionally assumed 90 degrees can be calculated in real time. From these experimental results you can see that we measure inclination of Foot Link by using accelerometer and the system could support not only the stance phase but also the swing phase of the gait appropriately. Motion Control of Wearable Walking Support System with Accelerometer Based on Human Model 215 a Inclination of Upper Body b Inclination of Foot Link Fig. 7. Experimental Results During Sit-Stand Motion a Inclination of Upper Body b Inclination of Foot Link Fig. 8. Experimental Results During Walking 5. Walking experiment The final goal of this paper is to make it possible to support