Fall Prevension Control of a Wearable Robot Using Ground Reaction Force Sensors
نویسندگان
چکیده
In the development of a wearable robot for locomotion, fall prevention is an important problem. In this study, we propose a fall prevention control of a wearable robot using ground reaction force sensors which measure 3-axis ground reaction force and position of center of pressure. We conducted a measurement experiment to evaluate user’s compensation for backward instability during walking with a wearable robot. The results suggest that the proposed control is effective to reduce voluntary effort to avoid backward balance loss.
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