A Mathematical Design for a Novel Walking Support Device that Leverages Passive Dynamics and Coupling Effects
Longchuan Li,Shugen Ma,Isao Tokuda,Makoto Nokata,Yang Tian,Liang Du,Zhiqing Li,Longchuan Li,Shugen Ma,Isao Tokuda,Makoto Nokata,Yang Tian,Liang Du,Zhiqing Li
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 ...
