A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects
Longchuan Li, Shugen Ma, Isao Tokuda, Makoto Nokata, Yang Tian, Liang Du, Zhiqing Li
Abstract
This paper mathematically conceives a novel walking support device that leverages passive dynamics and coupling effects. In this model, a passive human walker is flexibly connected to an active humanoid, where the coupling effect induces a stable walking gait of the human. To understand the key mechanism of such indirect gait regulation, different actuation modes are designed for the humanoid and compared via phase-plane analysis of the steady-state gaits. Moreover, stability analysis is conducted via Poincaré map. The results show that it is difficult to enhance the human walker's stability when coupled to a humanoid robot using additional sensory information, compared to using a humanoid robot actuated with a predetermined force that employs no state feedback. The present mathematical model and our theoretical findings contribute to analysis and control design for locomotion systems with robot-human or inter-robots cooperation.
BibTeX
@inproceedings{icra2022_amathematicaldes,
title = {A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects},
author = {Longchuan Li and Shugen Ma and Isao Tokuda and Makoto Nokata and Yang Tian and Liang Du and Zhiqing Li},
booktitle = {ICRA 2022},
year = {2022}
}