Self-adaptive Walking Speed Control on Underactuated Rimless Wheel

2020 ◽  
Author(s):  
Wenxin Lai ◽  
Yujia Tian ◽  
Shujun Han ◽  
Yue Lin ◽  
Yongiiang Xue ◽  
...  
Keyword(s):  
Walking Speed ◽  
Speed Control ◽  
Rimless Wheel ◽  
Self Adaptive

Influence of the overground walking speed control modality: Modification to the walk ratio and spatio-temporal parameters of gait

2021 ◽  
Vol 83 ◽  
pp. 256-261
Author(s):  
T. Legrand ◽  
H. Younesian ◽  
C. Gélinas-Trudel ◽  
C.V. Barthod ◽  
A. Campeau-Lecours ◽  
...  
Keyword(s):  
Walking Speed ◽  
Speed Control ◽  
Overground Walking ◽  
Temporal Parameters ◽  
Walk Ratio ◽  
Spatio Temporal

scholarly journals Drosophila uses a tripod gait across all walking speeds, and the geometry of the tripod is important for speed control

eLife ◽  
2021 ◽  
Vol 10 ◽  
Author(s):  
Chanwoo Chun ◽  
Tirthabir Biswas ◽  
Vikas Bhandawat
Keyword(s):  
Simple Model ◽  
Spatial Resolution ◽  
Inverted Pendulum ◽  
Walking Speed ◽  
High Spatial Resolution ◽  
Center Of Mass ◽  
Mass Movement ◽  
Speed Control ◽  
Tripod Gait ◽  
Walking Speeds

Changes in walking speed are characterized by changes in both the animal’s gait and the mechanics of its interaction with the ground. Here we study these changes in walking Drosophila. We measured the fly’s center of mass movement with high spatial resolution and the position of its footprints. Flies predominantly employ a modified tripod gait that only changes marginally with speed. The mechanics of a tripod gait can be approximated with a simple model – angular and radial spring-loaded inverted pendulum (ARSLIP) – which is characterized by two springs of an effective leg that become stiffer as the speed increases. Surprisingly, the change in the stiffness of the spring is mediated by the change in tripod shape rather than a change in stiffness of individual legs. The effect of tripod shape on mechanics can also explain the large variation in kinematics among insects, and ARSLIP can model these variations.

scholarly journals A Method of Speed Control during Over-Ground Walking: Using a Digital Light-Emitting Diode Light Strip

2013 ◽  
Vol 718-720 ◽  
pp. 1371-1376 ◽  
Author(s):  
Liang Huang ◽  
Jie Zhuang ◽  
Yan Xin Zhang
Keyword(s):  
Walking Speed ◽  
Light Emitting Diode ◽  
Speed Control ◽  
Visual Cue ◽  
Light Emitting ◽  
Custom Made ◽  
Percent Difference ◽  
Average Percent Difference ◽  
Walking Speeds ◽  
Over Ground Walking

The purpose of this report was to introduce the design of a portable, inexpensive and programmable digital light-emitting diode (LED) system to control overground walking speed. The system includes a custom-made 10 meters digital LED strip and a digital microcontroller. By controlling the duration time of the power supply to each LED unit, a visible running lights signal can provide a visual cue for speed control. To evaluate this design, five subjects were asked to walk overground while following the LED visual cue at five different target speeds. The actual walking speeds were determined using Vicon motion capture system. The results of this evaluation showed a good match between the actual and desired speeds. The average percent difference was 2.51%, measured over 250 walking trials by the subjects. 98% of trials had an percent difference smaller than 6.5%, which is the maximum tolerated error within the literature. The inter-trial reliability for the LED speed control system ranged from 0.85 to 0.88 for faster speeds (1.6 m/s, 1.4 m/s), and slightly lower ranging from 0.74 to 0.79 at slower speeds (1.2 m/s, 1.0 m/s, 0.8 m/s).

scholarly journals A Novel Walking Speed Control Strategy for Power Augmentation Exoskeletons based on Neural Networks

2020 ◽  
Vol 8 (2) ◽  
pp. 104-113
Author(s):  
Abusabah I.A. Ahmed ◽  
Mohammed H. H. Musa
Keyword(s):  
Neural Networks ◽  
Control Strategy ◽  
Walking Speed ◽  
Reaction Force ◽  
Speed Control ◽  
Interaction Force ◽  
Complex Information ◽  
Input Signals ◽  
Complex Information Processing ◽  
Processing Device

This paper addresses a novel sensing technique to minimize the interaction force of walking speed transitions during the navigation of a coupled human-exoskeleton power augmentation system. The proposed technique is able to classify the intended walking speed based on Dual Reaction Force (DRF) Sensor. The human brain as a complex information processing device is quite difficult to be simulated, especially when considering the processing speed and the speed of sensed signals through the human nervous system throughout the human body. We developed the DRF sensors for preemptive identification of pilot intentions for walking speed transitions to augment the response of the exoskeleton to shadow pilot's movements. The Dynamic Threshold Neural Networks (DTNNs) is used to classify the input signals and make a decision on the transition of system's walking speed according to the pilot's intentions and walking speed limitation. The actions for walking speed transitions are simulated in MATLAB/Simulink, and Variable Admittance Controller (VAC) and applied. To show the efficiency of the proposed walking speed control strategy, comparison is conducted with ordinary VAC algorithm technique.

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