An algorithm of walk phase estimation with only treadmill motor current

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

*この研究の対応する著者

    研究成果: Conference contribution

    10 被引用数 (Scopus)

    抄録

    To develop a gait rehabilitation robot for hemiplegic patients, quantitative evaluations of patient ability is needed. Patient's walk phase, which includes time balance of stance and swing legs, is one of the most useful indexes. However, conventional methods measuring walk phase require laborious preparations. In this paper, a novel algorithm estimating walk phase on a treadmill by observing DC motor current is proposed. In comparison of this algorithm and conventional methods, it was verified that the proposed algorithm had as the same accuracy as foot switch. Moreover, the proposed algorithm could estimate stance phase in 0.2 (s) errors between measurements of force plate mostly (4 out of 5 healthy subjects). However, result from the 5th subject showed that the proposed algorithm had erroneously identified stance phase as swing phase when little body weight loaded on leg. This characteristic is often observed in hemiplegic gait. Therefore, the proposed algorithm might need improvement of motor current threshold. However, this algorithm had capable of estimating the time of loading body weight on leg, and thus could be useful as a quantitative evaluation tool.

    本文言語English
    ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    ページ4060-4066
    ページ数7
    DOI
    出版ステータスPublished - 2009 12 11
    イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO
    継続期間: 2009 10 112009 10 15

    Other

    Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    CitySt. Louis, MO
    Period09/10/1109/10/15

    ASJC Scopus subject areas

    • 人工知能
    • コンピュータ ビジョンおよびパターン認識
    • 人間とコンピュータの相互作用
    • 制御およびシステム工学

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