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Control of Walking Assist Exoskeleton With Time-delay Based on the Prediction of Plantar Force

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dc.contributor.author Ding, Ming en
dc.contributor.author Nagashima, Mikihisa en
dc.contributor.author Cho, Sung-Gwi en
dc.contributor.author Takamatsu, Jun en
dc.contributor.author Ogasawara, Tsukasa en
dc.date.accessioned 2020-10-19T06:08:47Z en
dc.date.available 2020-10-19T06:08:47Z en
dc.date.issued 2020-07-20 en
dc.identifier.uri http://hdl.handle.net/10061/14112 en
dc.description.abstract Many kinds of lower-limb exoskeletons were developed for walking assistance. However, when controlling these exoskeletons, time-delay due to the computation time and the communication delays is still a general problem. In this research, we propose a novel method to prevent the time-delay when controlling a walking assist exoskeleton by predicting the future plantar force and walking status. By using Long Short-Term Memory and a fully-connected network, the plantar force can be predicted using only data measured by inertial measurement unit sensors, not only during the walking period but also at the start and end of walking. From the predicted plantar force, the walking status and the desired assistance timing can also be determined. By considering the time-delay and sending the control commands beforehand, the exoskeleton can be moved precisely on the desired assistance timing. In experiments, the prediction accuracy of the plantar force and the assistance timing are confirmed. The performance of the proposed method is also evaluated by using the trained model to control the exoskeleton. en
dc.language.iso en en
dc.publisher IEEE en
dc.relation.isreplacedby https://ieeexplore.ieee.org/document/9144553 en
dc.rights This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ en
dc.subject Walking exoskeleton en
dc.subject motion prediction en
dc.subject machine learning en
dc.subject plantar force en
dc.title Control of Walking Assist Exoskeleton With Time-delay Based on the Prediction of Plantar Force en
dc.type.nii Journal Article en
dc.contributor.transcription タカマツ, ジュン ja
dc.contributor.transcription オガサワラ, ツカサ ja
dc.contributor.alternative 趙, 崇貴 ja
dc.contributor.alternative 高松, 淳 ja
dc.contributor.alternative 小笠原, 司 ja
dc.textversion none en
dc.identifier.eissn 2169-3536 en
dc.identifier.jtitle IEEE Access en
dc.identifier.volume 8 en
dc.identifier.spage 138642 en
dc.identifier.epage 138651 en
dc.relation.doi 10.1109/ACCESS.2020.3010644 en
dc.identifier.NAIST-ID 84367093 en
dc.identifier.NAIST-ID 73292849 en
dc.identifier.NAIST-ID 73292401 en


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