An automatic transformation method for the walking assistive device to walk between flat ground and stairs safely

Bo Rong Yang, Yu Cheng Zhang, Hee Hyol Lee, Eiichiro Tanaka

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

The main target of this research is to assist the elderly people to walk on different road conditions independently. A method that can transform the walking motion of a walking assistive device between level walking and stair climbing automatically was proposed. To teach the target user how to walk correctly, we defined a trajectory that belongs to healthy people to help the user exercise. Stairs are common in various indoor situations and become a huge challenge for people with gait disorders. To extend the range of physical activity, walking trajectories in different surroundings were imported on the assistive device. Ultrasonic sensors were utilized to detect the distance between stairs and the swing foot. Based on the measured distance, the gait was modified according to a predefined safety distance that was determined experimentally. We also designed trajectory combination methods for changing the device motion patterns between ascending and descending stairs as the walking conditions change. The effectiveness of the system was tested through simulation. The results showed that the device smoothly shifted gait with the proposed methods in this paper. This method has the potential to solve the adaptability of various walking devices to different surroundings.

元の言語English
ホスト出版物のタイトル43rd Mechanisms and Robotics Conference
出版者American Society of Mechanical Engineers (ASME)
ISBN(電子版)9780791859230
DOI
出版物ステータスPublished - 2019
イベントASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States
継続期間: 2019 8 182019 8 21

出版物シリーズ

名前Proceedings of the ASME Design Engineering Technical Conference
5A-2019

Conference

ConferenceASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
United States
Anaheim
期間19/8/1819/8/21

ASJC Scopus subject areas

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

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  • これを引用

    Yang, B. R., Zhang, Y. C., Lee, H. H., & Tanaka, E. (2019). An automatic transformation method for the walking assistive device to walk between flat ground and stairs safely. : 43rd Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; 巻数 5A-2019). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2019-97796