Study on the walking support machine indoors by assisting whole legs

Eiichiro Tanaka, Tadaaki Ikehara, Kazuteru Nagamura, Kiyotaka Ikejo, Takeshi Sakamoto, Yusuke Inoue, Shozo Saegusa

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

1 Citation (Scopus)

Abstract

There is currently research to support the construction of a walking assist machine, which machine uses a spatial parallel link mechanism for the elderly or rehabilitants. The flat steps of the assist machine move in parallel with the ground and can support the legs of a person including the soles. We developed a prototype and designed to assist people walking at up to fifty percent power. To grasp the walking phase of each leg of the equipped person, pressure sensors were laid under the thenar eminence and the heel of the sole, and the pressure variation at each sensing point was measured. For safety support, we developed a control method of the walking assist machine to fit the motion in phase by phase. Furthermore, in order to support walking indoors, we investigated the assist methods of turning around during walking and walking on a slope or stairs. A flexible link was installed in the mechanism for taking into account the twisting motions of the waist and ankle. To grasp the behavior of turning around during walking of the equipped person, pressure sensors were attached outside of the flexible link in both crural parts of the machine. As a result of the experiment wearing the machine, the equipped person could turn around during walking at will. To confirm the validity of the supporting method, muscle activity of the leg while wearing the walking assist machine evaluated by using the surface electromyography (called as "EMG"), and calculated the ratio of the integrated EMG (called as "IEMG") with and without the walking assist machine. The initial results show that the activities of the rectus femoris muscle and the tibialis anterior muscle can be held to approximately 60 percent by wearing the walking assist machine. Furthermore, in order to support walking indoors, we investigated the assist methods of walking on a slope or stairs. The machine was equipped with a gyro sensor and an ultrasonic sensor; the angle of the slope and the size of stairs could recognize and the machine could be controled according to the signals from the sensors. As a result of the experiment wearing the machine, the equipped person could walk on a slope or stairs at will. The subject assisted with the machine was able to walk on a slope up to the angle of plus or minus fifteen degrees.

Original languageEnglish
Title of host publication2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages597-605
Number of pages9
Volume8 PART A
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States
Duration: 2007 Sep 42007 Sep 7

Other

Other31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
CountryUnited States
CityLas Vegas, NV
Period07/9/407/9/7

Fingerprint

Stairs
Slope
Person
Muscle
Pressure sensors
Pressure Sensor
Walk
Sensor
Percent
Ultrasonic sensors
Electromyography
Sensors
Angle
Motion
Experiments
Experiment
Sensing
Safety
Prototype

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Mechanical Engineering
  • Modelling and Simulation

Cite this

Tanaka, E., Ikehara, T., Nagamura, K., Ikejo, K., Sakamoto, T., Inoue, Y., & Saegusa, S. (2008). Study on the walking support machine indoors by assisting whole legs. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (Vol. 8 PART A, pp. 597-605) https://doi.org/10.1115/DETC2007-34081

Study on the walking support machine indoors by assisting whole legs. / Tanaka, Eiichiro; Ikehara, Tadaaki; Nagamura, Kazuteru; Ikejo, Kiyotaka; Sakamoto, Takeshi; Inoue, Yusuke; Saegusa, Shozo.

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. Vol. 8 PART A 2008. p. 597-605.

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

Tanaka, E, Ikehara, T, Nagamura, K, Ikejo, K, Sakamoto, T, Inoue, Y & Saegusa, S 2008, Study on the walking support machine indoors by assisting whole legs. in 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. vol. 8 PART A, pp. 597-605, 31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007, Las Vegas, NV, United States, 07/9/4. https://doi.org/10.1115/DETC2007-34081
Tanaka E, Ikehara T, Nagamura K, Ikejo K, Sakamoto T, Inoue Y et al. Study on the walking support machine indoors by assisting whole legs. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. Vol. 8 PART A. 2008. p. 597-605 https://doi.org/10.1115/DETC2007-34081
Tanaka, Eiichiro ; Ikehara, Tadaaki ; Nagamura, Kazuteru ; Ikejo, Kiyotaka ; Sakamoto, Takeshi ; Inoue, Yusuke ; Saegusa, Shozo. / Study on the walking support machine indoors by assisting whole legs. 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. Vol. 8 PART A 2008. pp. 597-605
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