Walking assistance apparatus able to select the control method according to the purpose of the user

Eiichirou Tanaka, Takahiro Suzuki, Shozo Saegusa, Louis Yuge

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

A walking assistance apparatus which can promote gait training for motor palsy patients and outdoor walking for the elderly was developed. Our prototype uses a novel spatial parallel link mechanism and restraint free type of equipment. The apparatus supports complete leg alignment, including the soles of the feet from under the soles with flat steps, and assists walking behavior at the ankle, knee, and hip joints simultaneously without the use of Velcro tape. We proposed the control method according to the purpose of the user. For example, to promote gait training, this apparatus can select the impedance control method. User's legs are assisted along the trajectory with the ideal gait as well as walking. To promote outdoor walking for the elderly, this apparatus can select the torque control method. The apparatus calculates the necessary torques of each joint according to the posture and motion of the apparatus and user. In the case of the impedance control method, by adjusting the natural frequency of the ideal dynamic equation for the flat steps under the soles, the user felt it was easier to walk by frequency entrainment. On the other hand, to promote outdoor walking of the user, this apparatus has to be used not only on the flat ground but also on stairs or slopes with freedom behaviors, and it has to make the user feel comfortable. To address this problem, the torque control method proposed to use real-time acceleration data instead of using the template trajectory. By using this method, the subject could walk on the slope and stairs continuously. Finally, %MVC of the user's EMG while walking equipped with this apparatus was measured, and the influence of the difference using between the impedance and torque control method was confirmed by interviewing the subjects. From the result, the impedance control method assisted the motion of kicking the ground, and the torque control method assisted the motion of raising-up the leg. Therefore, the impedance control method is good for gait training, and the torque control method is good for walk promotion.

元の言語English
ホスト出版物のタイトルWorld Automation Congress Proceedings
出版者IEEE Computer Society
ページ537-542
ページ数6
ISBN(電子版)9781889335490
DOI
出版物ステータスPublished - 2014 10 24
外部発表Yes
イベント2014 World Automation Congress, WAC 2014 - Waikoloa, United States
継続期間: 2014 8 32014 8 7

出版物シリーズ

名前World Automation Congress Proceedings
ISSN(印刷物)2154-4824
ISSN(電子版)2154-4832

Conference

Conference2014 World Automation Congress, WAC 2014
United States
Waikoloa
期間14/8/314/8/7

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • これを引用

    Tanaka, E., Suzuki, T., Saegusa, S., & Yuge, L. (2014). Walking assistance apparatus able to select the control method according to the purpose of the user. : World Automation Congress Proceedings (pp. 537-542). [6936036] (World Automation Congress Proceedings). IEEE Computer Society. https://doi.org/10.1109/WAC.2014.6936036