Synchronization Based Control for Walking Assist Suit-Evaluation on Synchronization and Assist Effect

Xia Zhang; Minoru Hashimoto

doi:10.4028/www.scientific.net/KEM.464.115

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Synchronization Based Control for Walking Assist Suit-Evaluation on Synchronization and Assist Effect
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Synchronization Based Control for Walking Assist Suit-Evaluation on Synchronization and Assist Effect

Abstract:

We propose a framework of realizing natural assist behavior with a walking assist suit inspired by human interaction. We look at the human interaction as a behavior of synchronization action, which is a common phenomenon in walking assist between human. To achieve this human-like walking assist, synchronization based control is adopted and applied to a walking assist suit. We use neural oscillators to entrain and synchronize the assist suit’s motion with that of human user. To determine the validity and feasibility, walking experiments have conducted with a 4-DOF walking assist suit. The results showed the validity of using synchronization based control for walking assist suit.