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

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2017 International Conference on Rehabilitation Robotics, ICORR 2017
編集者Arash Ajoudani, Panagiotis Artemiadis, Philipp Beckerle, Giorgio Grioli, Olivier Lambercy, Katja Mombaur, Domen Novak, Georg Rauter, Carlos Rodriguez Guerrero, Gionata Salvietti, Farshid Amirabdollahian, Sivakumar Balasubramanian, Claudio Castellini, Giovanni Di Pino, Zhao Guo, Charmayne Hughes, Fumiya Iida, Tommaso Lenzi, Emanuele Ruffaldi, Fabrizio Sergi, Gim Song Soh, Marco Caimmi, Leonardo Cappello, Raffaella Carloni, Tom Carlson, Maura Casadio, Martina Coscia, Dalia De Santis, Arturo Forner-Cordero, Matthew Howard, Davide Piovesan, Adriano Siqueira, Frank Sup, Masia Lorenzo, Manuel Giuseppe Catalano, Hyunglae Lee, Carlo Menon, Stanisa Raspopovic, Mo Rastgaar, Renaud Ronsse, Edwin van Asseldonk, Bram Vanderborght, Madhusudhan Venkadesan, Matteo Bianchi, David Braun, Sasha Blue Godfrey, Fulvio Mastrogiovanni, Andrew McDaid, Stefano Rossi, Jacopo Zenzeri, Domenico Formica, Nikolaos Karavas, Laura Marchal-Crespo, Kyle B. Reed, Nevio Luigi Tagliamonte, Etienne Burdet, Angelo Basteris, Domenico Campolo, Ashish Deshpande, Venketesh Dubey, Asif Hussain, Vittorio Sanguineti, Ramazan Unal, Glauco Augusto de Paula Caurin, Yasuharu Koike, Stefano Mazzoleni, Hyung-Soon Park, C. David Remy, Ludovic Saint-Bauzel, Nikos Tsagarakis, Jan Veneman, Wenlong Zhang
出版社IEEE Computer Society
ページ320-325
ページ数6
ISBN(電子版)9781538622964
DOI
出版ステータスPublished - 2017 8 11
イベント2017 International Conference on Rehabilitation Robotics, ICORR 2017 - London, United Kingdom
継続期間: 2017 7 172017 7 20

出版物シリーズ

名前IEEE International Conference on Rehabilitation Robotics
ISSN(印刷版)1945-7898
ISSN(電子版)1945-7901

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

フィンガープリント 「Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル