Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque

Jing Chen Hong; Yuki Hayashi; Shigeru Suzuki; Yuta Fukushima; Kazuhiro Yasuda; Hiroki Ohashi; Hiroyasu Iwata

doi:10.1109/ICORR.2019.8779393

Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque

Jing Chen Hong, Yuki Hayashi, Shigeru Suzuki, Yuta Fukushima, Kazuhiro Yasuda, Hiroki Ohashi, Hiroyasu Iwata

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In previous research, we have developed a high-dorsiflexion assistive robotic technology aiming for gait rehabilitation targeting on ankle dorsiflexion movement. A McKibben-type artificial muscle is applied to provide large dorsiflexion force while adding little weight to the device. This ensures the foot clearance before initial stance phase in gait. Meanwhile, a tension spring is deployed in series with the artificial muscle to support heel rocker function in loading response phase. Suitable spring coefficient for each individual differs according to ankle's dorsiflexion torque in loading response. An unsuitable spring would lead to knee deviation in this phase. In this study, we derived an identification equation to determine a suitable spring coefficient for individuals based on estimation of dorsiflexion torque required to support. An evaluation test on healthy objects was conducted, which shows no negative effects on participants' knee angles with the identified spring coefficient.

Original language	English
Title of host publication	2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019
Publisher	IEEE Computer Society
Pages	355-359
Number of pages	5
ISBN (Electronic)	9781728127552
DOIs	https://doi.org/10.1109/ICORR.2019.8779393
Publication status	Published - 2019 Jun
Event	16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada Duration: 2019 Jun 24 → 2019 Jun 28

Publication series

Name	IEEE International Conference on Rehabilitation Robotics
Volume	2019-June
ISSN (Print)	1945-7898
ISSN (Electronic)	1945-7901

Conference

Conference	16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019
Country	Canada
City	Toronto
Period	19/6/24 → 19/6/28

ASJC Scopus subject areas

Control and Systems Engineering
Rehabilitation
Electrical and Electronic Engineering

Access to Document

10.1109/ICORR.2019.8779393

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Cite this

Hong, J. C., Hayashi, Y., Suzuki, S., Fukushima, Y., Yasuda, K., Ohashi, H., & Iwata, H. (2019). Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. In 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019 (pp. 355-359). [8779393] (IEEE International Conference on Rehabilitation Robotics; Vol. 2019-June). IEEE Computer Society. https://doi.org/10.1109/ICORR.2019.8779393

Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. / Hong, Jing Chen; Hayashi, Yuki; Suzuki, Shigeru; Fukushima, Yuta; Yasuda, Kazuhiro; Ohashi, Hiroki; Iwata, Hiroyasu.

2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society, 2019. p. 355-359 8779393 (IEEE International Conference on Rehabilitation Robotics; Vol. 2019-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hong, JC, Hayashi, Y, Suzuki, S, Fukushima, Y, Yasuda, K, Ohashi, H & Iwata, H 2019, Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. in 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019., 8779393, IEEE International Conference on Rehabilitation Robotics, vol. 2019-June, IEEE Computer Society, pp. 355-359, 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019, Toronto, Canada, 19/6/24. https://doi.org/10.1109/ICORR.2019.8779393

Hong JC, Hayashi Y, Suzuki S, Fukushima Y, Yasuda K, Ohashi H et al. Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. In 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society. 2019. p. 355-359. 8779393. (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2019.8779393

Hong, Jing Chen ; Hayashi, Yuki ; Suzuki, Shigeru ; Fukushima, Yuta ; Yasuda, Kazuhiro ; Ohashi, Hiroki ; Iwata, Hiroyasu. / Identification of spring coefficient for heel rocker function support based on estimated dorsiflexion torque. 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. IEEE Computer Society, 2019. pp. 355-359 (IEEE International Conference on Rehabilitation Robotics).

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abstract = "In previous research, we have developed a high-dorsiflexion assistive robotic technology aiming for gait rehabilitation targeting on ankle dorsiflexion movement. A McKibben-type artificial muscle is applied to provide large dorsiflexion force while adding little weight to the device. This ensures the foot clearance before initial stance phase in gait. Meanwhile, a tension spring is deployed in series with the artificial muscle to support heel rocker function in loading response phase. Suitable spring coefficient for each individual differs according to ankle's dorsiflexion torque in loading response. An unsuitable spring would lead to knee deviation in this phase. In this study, we derived an identification equation to determine a suitable spring coefficient for individuals based on estimation of dorsiflexion torque required to support. An evaluation test on healthy objects was conducted, which shows no negative effects on participants' knee angles with the identified spring coefficient.",

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