Abstract

The purpose of this research is to build a technology that enables wearable robotic systems that support human movement to maintain stable balance. By expanding our knowledge of conventional human gait analysis technology and robotics technology, we will build a technology that can estimate the state of human balance. In order to build a technology for estimating the human balance state based on the balance control technology of humanoid robots, we conducted joint research with Osaka University. We applied our knowledge of humanoid robot control to human stepping and braking motions, and confirmed the effectiveness of the balance control model using data measured by a motion capture system and a floor reaction force sensor system. In order to build a technology for estimating the human balance state based on the balance control technology of humanoid robots, we conducted joint research with Osaka University. We applied our knowledge of humanoid robot control to human stepping and braking motions to build a human balance control model. We confirmed the effectiveness of the balance control model using data measured by a motion capture system and a floor reaction force sensor system. In order to understand the state of human walking, the human walking motion was measured by motion capture and analyzed in detail. Following the norms of gait analysis techniques, we extended the balance control model of human foot-stepping and braking motions to a gait model that includes continuous straight-line walking and change of direction during walking. The effectiveness of the constructed balance control model was confirmed using a motion capture system and a floor reaction force sensor system.

Highlights

  • Japan’s labor force is expected to decline year by year due to the aging population, declining population, and declining birthrate

  • Following the norms of gait analysis techniques, we extended the balance control model of human foot-stepping and braking motions to a gait model that includes continuous straight-line walking and change of direction during walking

  • Using the constructed measurement environment, verification of stepping and braking motion performed in the previous research, identification of gait phase, and gait analysis were performed

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Summary

Introduction

Japan’s labor force is expected to decline year by year due to the aging population, declining population, and declining birthrate. According to a report by the Ministry of Health and Welfare, the number of employees was 62.7 million in 2012, but it is expected to be 60 million if economic growth and labor participation do not proceed properly in the future. It is said that the declining birthrate and aging population will progress when one of the 2.5 people nationwide becomes an elderly person aged 65 or over in 2060. Considering this situation, it is important for companies to take a new approach to utilizing human resources in the future.

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