Development of electric cart for improving walking ability - application of control theory to assistive technology  

作　　者：Jinhua SHE Yasuhiro OHYAMA Min WU Hiroshi HASHIMOTO 

机构地区：[1]School of Engineering, Tokyo University of Technology, Tokyo 192-0982, Japan [2]School of Automation, China University of Geosciences, Wuhan 430074, China [3]Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan 430074, China [4]Master Program of Innovation for Design & Engineering, Advanced Institute of Industrial Technology, Tokyo 140-0011, Japan

出　　处：《Science China(Information Sciences)》2017年第12期258-266,共9页中国科学（信息科学）（英文版）

基　　金：supported by Japan Society for the Promotion of Science(JSPS)KAKENHI(Grant Nos.18560259,26350673);partially by JSPS KAKENHI(Grant No.16H02883);upported by National Natural Science Foundation of China(Grant Nos.61473313,61210011);Hubei Provincial Natural Science Foundation of China(Grant No.2015CFA010);the 111 Project of China(Grant No.B17040)

摘　　要：This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关 键 词：aging Borg＇s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion 

分 类 号：U469.72[机械工程—车辆工程]