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Please use this identifier to cite or link to this item: http://hdl.handle.net/11133/1126

Title: 人の歩行における安定制御の研究
Other Titles: ヒト ノ ホコウ ニオケル アンテイ セイギョ ノ ケンキュウ
A Study on the Stability Control of Human Locomotion
Authors: 倪, 江生
平松, 誠治
加藤, 厚生
NI, Jiangsheng
HIRAMATSU, Seiji
KATO, Atsuo
Issue Date: 31-Mar-2001
Publisher: 愛知工業大学
Abstract: After the discussion of the model of human locomotion, we laid emphasis on the study of the stability of human locomotion in this paper. On the basis of the essential model a strategy to improve the stability was proposed. A stability controller using a time-varying ankle torque to prevent body from falling down was newly incorporated in the model and a prediction control algorithm was applied to the controller. Taking a free walking on flat ground and a stair climbing movement for examples, the effectiveness of the stability controller was proved by the computer simulation.
URI: http://hdl.handle.net/11133/1126
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