Gait training robot with intermittent force application based on prediction of minimum toe clearance

Tamon Miyake, Masakatsu G. Fujie, Shigeki Sugano

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

Abstract

Adaptive assistance of gait training robots has been determined to improve gait performance through motion assistance. An important control role during walking is to avoid tripping by controlling minimum toe clearance (MTC), which is an indicator of tripping risk, to avoid its decrease among gait cycles. No conventional gait training robots can adjust assistance timing based on MTC. In this paper, we propose a system that applies force intermittently based on the MTC prediction algorithm to encourage people to avoid lowering the MTC. This prediction algorithm is based on a radial basis function network, the input data of which include the angles, angular velocities, and angular accelerations of the hip, knee, and ankle joints in the sagittal and coronal planes at toe-off. The cable-driven system that can switch between assistance and non-assistance modes applies force when the predicted MTC is lower than the mean value. Nine participants were asked to walk on a treadmill, and we tested the effect of the system. The MTC data before, during, and after the assistance phase were analyzed for 120 s. The results showed that the minimum and first quartile values of MTC could be increased after the assistance phase.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3416-3422
Number of pages7
ISBN (Electronic)9781728162126
DOIs
Publication statusPublished - 2020 Oct 24
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 2020 Oct 242021 Jan 24

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period20/10/2421/1/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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