Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance

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

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

    2 Citations (Scopus)

    Abstract

    Gait training robots are useful for changing gait patterns and decreasing risk of trip. Previous research has reported that decreasing duration of the assistance or guidance of the robot is beneficial for efficient gait training. Although robotic intermittent control method for assisting joint motion has been established, the effect of the robot intervention timing on change of toe clearance is unclear. In this paper, we tested different timings of applying torque to the knee, employing the intermittent control of a gait training robot to increase toe clearance throughout the swing phase. We focused on knee flexion motion and designed a gait training robot that can apply flexion torque to the knee with a wire-driven system. We used a method of timing detecting for the robot conducting torque control based on information from the hip, knee, and ankle angles to establish a non-time dependent parameter that can be used to adapt to gait change, such as gait speed. We carried out an experiment in which the conditions were four time points: starting the swing phase, lifting the foot, maintaining knee flexion, and finishing knee flexion. The results show that applying flexion torque to the knee at the time point when people start lifting their toe is effective for increasing toe clearance in the whole swing phase.

    Original languageEnglish
    Title of host publication2017 International Conference on Rehabilitation Robotics, ICORR 2017
    PublisherIEEE Computer Society
    Pages320-325
    Number of pages6
    ISBN (Electronic)9781538622964
    DOIs
    Publication statusPublished - 2017 Aug 11
    Event2017 International Conference on Rehabilitation Robotics, ICORR 2017 - London, United Kingdom
    Duration: 2017 Jul 172017 Jul 20

    Other

    Other2017 International Conference on Rehabilitation Robotics, ICORR 2017
    CountryUnited Kingdom
    CityLondon
    Period17/7/1717/7/20

    Fingerprint

    Torque control
    Torque
    Toes
    Gait
    Knee
    Trajectories
    Wire
    Robots
    Robotics
    Ankle
    Hip
    Foot
    Joints
    Research
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Rehabilitation
    • Medicine(all)

    Cite this

    Miyake, T., Kobayashi, Y., Fujie, M. G., & Sugano, S. (2017). Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance. In 2017 International Conference on Rehabilitation Robotics, ICORR 2017 (pp. 320-325). [8009267] IEEE Computer Society. https://doi.org/10.1109/ICORR.2017.8009267

    Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance. / Miyake, Tamon; Kobayashi, Yo; Fujie, Masakatsu G.; Sugano, Shigeki.

    2017 International Conference on Rehabilitation Robotics, ICORR 2017. IEEE Computer Society, 2017. p. 320-325 8009267.

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

    Miyake, T, Kobayashi, Y, Fujie, MG & Sugano, S 2017, Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance. in 2017 International Conference on Rehabilitation Robotics, ICORR 2017., 8009267, IEEE Computer Society, pp. 320-325, 2017 International Conference on Rehabilitation Robotics, ICORR 2017, London, United Kingdom, 17/7/17. https://doi.org/10.1109/ICORR.2017.8009267
    Miyake T, Kobayashi Y, Fujie MG, Sugano S. Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance. In 2017 International Conference on Rehabilitation Robotics, ICORR 2017. IEEE Computer Society. 2017. p. 320-325. 8009267 https://doi.org/10.1109/ICORR.2017.8009267
    Miyake, Tamon ; Kobayashi, Yo ; Fujie, Masakatsu G. ; Sugano, Shigeki. / Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance. 2017 International Conference on Rehabilitation Robotics, ICORR 2017. IEEE Computer Society, 2017. pp. 320-325
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