NDLI: Dynamic Model and Motion Control Analysis of the Power Assist Intelligence Leg

Content Provider	IEEE Xplore Digital Library
Author	Feng Chen Yong Yu Yunjan Ge
Copyright Year	2006
Description	Author affiliation: Inst. of Intelligent Machines, Chinese Acad. of Sci., Hefei (Feng Chen; Yong Yu; Yunjan Ge)
Abstract	In this paper, we analyse a power assist system for leg which is in physical contact with the mechanism, with the goal of reducing human effort to do the task. The work presented is developing a mechanism worn by humans to increase human strength during activities of daily life. There are several problems in this project. First, the structure problem is studied using ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem, compliance control, is investigated. The input to the system is derived from the contact forces between the assistant legs and the human legs. Force control involves the direct command and measurement of force values. The system is expected to have powerful impacts on many applications during activities of daily life. This paper introduces the problems and analysis the compliant control method of the system, and gives a broad overview of the power assist intelligence leg project
Starting Page	6436
Ending Page	6440
File Size	141039
Page Count	5
File Format	PDF
ISBN	1424403324
DOI	10.1109/WCICA.2006.1714324
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-21
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Leg Humans Force measurement Power system modeling Ergonomics Legged locomotion Motion planning Force control Control system analysis Motion intention Power assist Compliance control
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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