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 引用 (Scopus)

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトル2017 International Conference on Rehabilitation Robotics, ICORR 2017
    出版者IEEE Computer Society
    ページ320-325
    ページ数6
    ISBN(電子版)9781538622964
    DOI
    出版物ステータス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

    Other

    Other2017 International Conference on Rehabilitation Robotics, ICORR 2017
    United Kingdom
    London
    期間17/7/1717/7/20

      フィンガープリント

    ASJC Scopus subject areas

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

    これを引用

    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. : 2017 International Conference on Rehabilitation Robotics, ICORR 2017 (pp. 320-325). [8009267] IEEE Computer Society. https://doi.org/10.1109/ICORR.2017.8009267