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- W4285102189 abstract "This paper mathematically conceives a novel walking support device that leverages passive dynamics and coupling effects. In this model, a passive human walker is flexibly connected to an active humanoid, where the coupling effect induces a stable walking gait of the human. To understand the key mechanism of such indirect gait regulation, different actuation modes are designed for the humanoid and compared via phase-plane analysis of the steady-state gaits. Moreover, stability analysis is conducted via Poincaré map. The results show that it is difficult to enhance the human walker's stability when coupled to a humanoid robot using additional sensory information, compared to using a humanoid robot actuated with a predetermined force that employs no state feedback. The present mathematical model and our theoretical findings contribute to analysis and control design for locomotion systems with robot-human or inter-robots cooperation." @default.
- W4285102189 created "2022-07-14" @default.
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- W4285102189 date "2022-05-23" @default.
- W4285102189 modified "2023-10-18" @default.
- W4285102189 title "A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects" @default.
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- W4285102189 doi "https://doi.org/10.1109/icra46639.2022.9811958" @default.
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