Walking motion measurement using IMU and assist control of powered wear with wire-driven assist

Abstract

This study proposes a target energy trajectory generation method that incorporates virtual passive dynamic walking, which is known as a gait generation method for biped robots, as a control method for a wire-driven powered wear for walking aid. In addition, we developed a gait motion measurement system using IMU to realize the proposed method in real time. By using the proposed method, we expect to realize a gait assist system that provides assistive forces based on the wearer’s current motion.