著者

香川 高弘 宇野 洋二 神谷 俊光 河村 耕造

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.44, no.11, pp.886-895, 2008-11-30 (Released:2013-02-25)

参考文献数

26

被引用文献数

1 1

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A legged locomotor device for paraplegics have been attempted to improve their ADL (Activity of Daily living) and to prevent some complications. A stride control of the system based on the user's intension is important to coordinate the voluntary movements of the user and the assisted movements of the paralyzed legs. In this paper, we propose a human interface with a walker to control the stride length of a legged locomotor device. Assuming that an intended stride is equal to a distance of the preceding movement of the walker, we developed a human interface estimating the movement distance of the walker, where the distance is calculated by polynomial fitting for the acceleration of the movement. In order to evaluate the performance of the proposed human interface, we carried out the experiments for simultaneous measurements of the distance of the walker and the acceleration signal. In this paper, we report the following results;(1) consistency of a stride length and the preceding movement distance of the walker,(2) estimation accuracy by polynomial fitting method, and (3) feasibility of the adjustment of stride length using the proposed method. These results suggest that the proposed human interface is effective to adjust the stride length of a legged locomotor device.