A Study on Virtual Wall Properties for Perception-Assist with a Lower-Limb Power-Assist Robot

Abstract

In daily life, there is the scene that a person steps on a bump of various height. At this moment, foot trajectory is changed according to the distance to the bump from the toe, the height of a bump, and the gait speed. In this paper, foot trajectory for stepping on a bump is measured and a function to set shape of virtual wall is considered based on the measurement result for the perception-assist.