Treadmill motor current value based walk phase estimation

Eiichi Ohki, Yasutaka Nakashima, Takeshi Ando, Masakatsu G. Fujie

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

    12 Citations (Scopus)

    Abstract

    We have developed a gait rehabilitation robot for hemiplegic patients using the treadmill. A walk phase, which includes time balance of stance and swing legs, is one of the most basic indexes to evaluate patients' gait. In addition, the walking phase is one of the indexes to control our robotic rehabilitation system. However, conventional methods to measure the walk phase require another system such as the foot switch and force plate. In this paper, an original algorithm to estimate the walk phase of a person on a treadmill using only the current value of DC motor to control the treadmill velocity is proposed. This algorithm was verified by experiments on five healthy subjects, and the walk phase of four subjects could be estimated in 0.2 (s) errors. However, the algorithm had erroneously identified a period of time in the stance phase as swing phase time when little body weight loaded on the subject's leg. Because a period of time with little body weight to affected leg is often observed in a hemiplegic walk, the proposed algorithm might fail to properly estimate the walk phase of hemiplegic patients. However, this algorithm could be used to estimate the time when body weight is loaded on patient legs, and thus could be used as a new quantitative evaluation index.

    Original languageEnglish
    Title of host publicationProceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
    Pages7131-7134
    Number of pages4
    DOIs
    Publication statusPublished - 2009
    Event31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 - Minneapolis, MN
    Duration: 2009 Sep 22009 Sep 6

    Other

    Other31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
    CityMinneapolis, MN
    Period09/9/209/9/6

    ASJC Scopus subject areas

    • Cell Biology
    • Developmental Biology
    • Biomedical Engineering
    • Medicine(all)

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  • Cite this

    Ohki, E., Nakashima, Y., Ando, T., & Fujie, M. G. (2009). Treadmill motor current value based walk phase estimation. In Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 (pp. 7131-7134). [5332924] https://doi.org/10.1109/IEMBS.2009.5332924