Relation between magnitude of applied torque during pre-swing phase and toe clearance change to prevent trip of elderly people

Tamon Miyake, Yo Kobayashi, Masakatsu G. Fujie, Shigeki Sugano

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

    Abstract

    Elderly people are at risk of falling because of their low toe clearance. Gait training to improve toe clearance could be instrumental in avoiding tripping. We propose using a gait-training robot that applies torque during the pre-swing phase to achieve this goal. It is still possible to revert to their original trajectory after the training, however, depending on the magnitude of the applied torque. We investigated the relation between the magnitude of the applied torque and the change in toe clearance before and after application of torque. We developed a robot and carried out an experiment in which a motor pulls a string embedded on the robotic frame worn by the participants, thereby applying torque during the pre-swing phase. The experimental task included walking on a treadmill for 50 s. We applied torque to the knee during the pre-swing phase for 20 s. The phases before and after applying torque were 15-s normal walking phases with no interference from the robot. We compared toe clearance during the phases before and after applying torque. We found that the toe clearance increased after applying a torque of 8 Nm. We were thus able to verify the influence of torque on toe clearance.

    Original languageEnglish
    Title of host publication2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages2448-2453
    Number of pages6
    ISBN (Electronic)9781509018970
    DOIs
    Publication statusPublished - 2017 Feb 6
    Event2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Budapest, Hungary
    Duration: 2016 Oct 92016 Oct 12

    Other

    Other2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016
    CountryHungary
    CityBudapest
    Period16/10/916/10/12

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition
    • Artificial Intelligence
    • Control and Optimization
    • Human-Computer Interaction

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