Abstract
It is necessary for wearable robots to develop systems to prevent falling down and to maintain balance. We propose a landing control system for contacting obstacles while walking. This system is composed of two modules. The first module is real-time obstacle detection using ground force sensors. We measured ground reaction force while landing on an obstacle and the pattern of hitting was identified. The second one is a fast trajectory modulation of joint angle after hitting the obstacle. Using the land control, a user can land an obstacle with a stable posture and stop the motion in a short time. Finally we confirmed that the proposed method improves the balance after landing by the experiment.
