A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability

<table class="fixed-width table-group" id="tab2"><tr><td><table class="table"><colgroup><col style="width:6.00em"/><col style="width:5.21em"/><col style="width:5.85em"/><col style="width:9.00em"/></colgroup><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left" rowspan="2"> </td><td class="align_center" colspan="3">Parameter</td></tr><tr class="thead"><td class="align_center">Mass (kg)</td><td class="align_center">Length (m)</td><td class="align_center">Center of mass (m)</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">First link</td><td class="align_center">1.0</td><td class="align_center">0.5</td><td class="align_center">0.25</td></tr><tr><td class="align_left">Second link</td><td class="align_center">1.0</td><td class="align_center">0.5</td><td class="align_center">0.25</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The parameters of the links used in the model.</div>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability 