Gait analysis for a human with a robot walking helper

Chun Hsu Ko, Kuu-Young Young, Sunil K. Agrawal*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations


With the growth of elderly population in our society, intelligent walking aids will play an important role in providing functional mobility to humans. In this paper, we propose a model to compute gait of humans walking with a robot helper. This model is aimed at designing a control system for the robot walking helper. The human model includes both the single support phase and impacts. Since a human will be walking along with the robot with its help, geometrical constraints and interaction forces are included. To achieve stable walking, zero moment point (ZMP) is utilized in the analysis and friction constraint is included within the reaction force from the ground. Simulations are performed to obtain optimal gait trajectories, the human applied joint torques, and the supporting forces from the robot walking helper.

Original languageEnglish
Title of host publicationIntelligent Autonomous Systems 12 - Proceedings of the 12th International Conference, IAS 2012
PublisherSpringer Verlag
Number of pages10
EditionVOL. 1
ISBN (Print)9783642339257
StatePublished - 1 Jan 2013
Event12th International Conference on Intelligent Autonomous Systems, IAS 2012 - Jeju Island, Korea, Republic of
Duration: 26 Jun 201229 Jun 2012

Publication series

NameAdvances in Intelligent Systems and Computing
NumberVOL. 1
Volume193 AISC
ISSN (Print)2194-5357


Conference12th International Conference on Intelligent Autonomous Systems, IAS 2012
Country/TerritoryKorea, Republic of
CityJeju Island


  • gait analysis
  • human
  • passive
  • robot
  • walking helper


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