Walking Aid Analysis of Walking Helper with Passive Control

• Main Authors: Sheng-Min Wang, 王聖閔
• Other Authors: Chun-Hsu Ko
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/19411513169445522602

碩士 === 義守大學 === 電機工程學系碩士班 === 98 === In this paper, we study the passive robot walking helper that can support the elderly walking. Passive walking helper uses servo brake to provide the braking force, and the user must provide the force for the helper to move, leading to higher safety. Because the interaction is between the user and the robot walking helper, it is important to analyze the interaction force that supports the user walking. The dynamic model of the user with a walking helper is first built. To obtain the walking state of the user, the minimum energy criterion is used. Then, the genetic algorithm and the optimization method are utilized to solve the optimization problem. Finally, a variety of experimental conditions such as, human body parameters and walking helper parameters, are considered in the simulations. The simulation results can provide an important reference for walking helper design.