シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2017/11
形態種別	学術論文
査読	査読あり
標題	Development of electric cart for improving walking ability---application of control theory to assistive technology
執筆形態	共著
掲載誌名	Science China Information Sciences
掲載区分	国外
出版社・発行元	Springer
巻・号・頁	60(12),pp.123201
担当範囲	ALL
著者・共著者	Jinhua She, Yasuhiro Ohyama, Min Wu, and Hiroshi Hashimoto
概要	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.
外部リンクURL	https://link.springer.com/article/10.1007/s11432-017-9261-1