Gait-controlled mobility-aid robot: Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force

Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

We have been developing a new mobility-aid robotic vehicle, Tread-Walk 2 (TW-2), which supports walking for the elderly. TW-2 is controlled by the natural walking movement, especially using ground reaction force during gait. In our previous work, we tried to estimate the user's anteroposterior force from the motor current value without a force sensor. But, a user of this vehicle experienced some discomfort both when he started walking and when he stopped walking. This problem is caused by inaccurate estimation of the user's anteroposterior force at the heel contact and the toe off. The estimation of the user's anteroposterior force is greatly related to inaccurate estimation of the vertical component of the ground reaction force, which is approximated by the square waveform in the stance phase. In this paper, we proposed the new approximation that reflects the characteristics of the ground reaction force during the human gait. This paper describes the novel method to approximate the waveforms of the vertical forces as isosceles trapezoidal waves. By comparing the estimated anteroposterior force using the new method with the measured value using the force plate, for two young subjects whose physical characteristics were different, the waveform pattern of the estimated force was found to be similar to that of the measured force. This showed that the proposed method could possibly be useful for accurate estimation of anteroposterior force. The technology to estimate the user's anteroposterior force accurately is a key to construct a control algorithm to improve the operability of TW-2.

Original languageEnglish
Title of host publicationProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Pages1305-1310
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome
Duration: 2012 Jun 242012 Jun 27

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CityRome
Period12/6/2412/6/27

Fingerprint

Exercise equipment
Robots
Robotics
Sensors

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Cite this

Nakashima, Y., Ando, T., Kobayashi, Y., & Fujie, M. G. (2012). Gait-controlled mobility-aid robot: Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 1305-1310). [6290679] https://doi.org/10.1109/BioRob.2012.6290679

Gait-controlled mobility-aid robot : Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force. / Nakashima, Yasutaka; Ando, Takeshi; Kobayashi, Yo; Fujie, Masakatsu G.

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1305-1310 6290679.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakashima, Y, Ando, T, Kobayashi, Y & Fujie, MG 2012, Gait-controlled mobility-aid robot: Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force. in Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics., 6290679, pp. 1305-1310, 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, 12/6/24. https://doi.org/10.1109/BioRob.2012.6290679
Nakashima Y, Ando T, Kobayashi Y, Fujie MG. Gait-controlled mobility-aid robot: Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. p. 1305-1310. 6290679 https://doi.org/10.1109/BioRob.2012.6290679
Nakashima, Yasutaka ; Ando, Takeshi ; Kobayashi, Yo ; Fujie, Masakatsu G. / Gait-controlled mobility-aid robot : Treadmill motor current based anteroposterior force estimation using frictional model reflects characteristics of ground reaction force. Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. 2012. pp. 1305-1310
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