Synchronization Based Control for Walking Assist Suit-Evaluation on Synchronization and Assist Effect
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.
Long Chen, Yongkang Zhang, Aixing Feng, Zhenying Xu, Boquan Li and Han Shen
X. Zhang and M. Hashimoto, "Synchronization Based Control for Walking Assist Suit-Evaluation on Synchronization and Assist Effect", Key Engineering Materials, Vol. 464, pp. 115-118, 2011