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In this paper, first we briefly present an overview of our developed electric powered user-propelled hybrid walker and wheelchair robot. Then we focus on analysis and investigation of a movement in which the robot starts to ascend and to descend a slope. We originally point out that in such motion the users walking speed and the robots traveling speed are(More)
In this paper, different from the conventional admittance control, an originally negative admittance control, in which two virtual parameters, virtual damping coefficient and virtual moment of inertia, are negative, is developed to support the movement of human's upper extremity only by agonist's EMG signals. First, we empirically determine two agonists,(More)
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