Cooperative Control Design for Robot-Assisted Balance During Gait
Year: 2012
Type: article
Abstract: Avoiding falls is a challenge for many persons in aging societies, and balance dysfunction is a major risk factor. Robotic solutions to assist human gait, however, focus on average kinematics, and less on instantaneous balance reactions. We propose a controller that only intervenes when needed, and that avoids stability issues when interacting with humans: Assistance is triggered only when balance is lost, and this action is purely feed-forward. Experiments show that subjects who start falling during gait can be uprighted by such feed-forward assistive forces.
Source: at - Automatisierungstechnik
Institution: ETH Zurich
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2058868181