NDLI: A control system based on MCU for wearable power assist legs

Content Provider	IEEE Xplore Digital Library
Author	Hongbing Tao Yong Yu Qiang Zhang Hanyu Sun Yunjian Ge
Copyright Year	2011
Description	Author affiliation: Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, 230031, China (Qiang Zhang; Yunjian Ge) \|\| Graduate School of Engineering and Science, Kagoshima University, Kagoshima, Japan (Yong Yu) \|\| Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, 230031, China and the Department of Automation, University of Science & Technology of China, Hefei, 230027, China (Hongbing Tao; Hanyu Sun)
Abstract	Walking power assist leg (WPAL) [1]-[5] is designed for old people, patients with weak legs or normal humans power augmentation during walking. The control system of WPAL is mainly developed to enhance the mobility because the field of activities of WPAL assistance is expected to be like outdoors activities. So the portability is very important, and the control system of WPAL should be small, light and convenient to be installed in WPAL. In this paper, we intend to introduce a control system based on Microprogrammed Control Unit (MCU), whose core circuits can be materialized on a small printed circuit broad (PCB), which can improve the portability of WPAL. To verify the effectiveness of the control system, some correlative experiments have been made, and the experiment results show that WPAL with this control system can control WPAL effectively to offer assistive force to wearers.
Starting Page	2193
Ending Page	2198
File Size	1509214
Page Count	6
File Format	PDF
ISBN	9781457721366
e-ISBN	9781457721380
DOI	10.1109/ROBIO.2011.6181617
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-07
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Control systems Sensors Legged locomotion DC motors Humans Exoskeletons Control System WPAL Power Assist MCU
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
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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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