Analysis of cane-assisted walking through nonlinear optimization

Ady, Ragou; Bachta, Wael; Bidaud, Philippe

doi:10.1109/icra.2013.6631121

Cited by 5 publications

(3 citation statements)

References 29 publications

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“…3), the cane is held on the opposite side of the weakest limb enabling a reduced load on both the affected limb and hip [6]. Aside from enhancing the postural stability by increasing the base of support, a cane provides breaking and propulsive forces to support the subject's weakest leg [2], [9]. The breaking and propulsive forces are needed respectively during the heel strike and the push off of the weakest leg.…”

Section: Imumentioning

confidence: 99%

Development and control of a one-wheel telescopic active cane

Ady

Bachta

Bidaud

2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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Population ageing calls for innovative solutions to increase daily living autonomy. Since people autonomy relies on their mobility capabilities, several robotized walking aids i.e. walkers and canes, mainly including navigation functions, have been developed. The existing robotized canes generally consist in statically stable mobile platforms equipped with a rod and a handle. This design alters the basic characteristics of original canes i.e. their weight-lightness and compactness. In this paper, a one-wheel telescopic active cane closer to the original cane concept is presented. Its control law and synchronization with the walking cycle is also given along with experimental results.

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Section: Imumentioning

confidence: 99%

Development and control of a one-wheel telescopic active cane

Ady

Bachta

Bidaud

2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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“…In previous works (Ady et al, 2013(Ady et al, , 2014, we proposed a prototype of robotic cane that avoided the common bulky and cumbersome structure of robotics canes and walkers, and that shared the compactness and longitudinal shape that characterize the conventional ones. In this paper, we focus on the control strategy using a revisited version of the robotic cane.…”

Section: Introductionmentioning

confidence: 99%

Robotic Cane Controlled to Adapt Automatically to Its User Gait Characteristics

et al. 2020

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Research on robotic assistance devices tries to minimize the risk of falls due to misuse of non-actuated canes. This paper contributes to this research effort by presenting a novel control strategy of a robotic cane that adapts automatically to its user gait characteristics. We verified the proposed control law on a robotic cane sharing the main shape features of a non-actuated cane. It consists of a motorized telescopic shaft mounted on the top of two actuated wheels driven by the same motor. Cane control relies on two Inertial Measurement Units (IMU). One is attached to the cane and the other to the thigh of its user impaired leg. During the swing phase of this leg, the motor of the wheels is controlled to enable the tracking of the impaired leg thigh angle by the cane orientation. The wheels are immobilized during the stance phase to provide motionless mechanical support to the user. The shaft length is continuously adjusted to keep a constant height of the cane handle. The primary goal of this work is to show the feasibility of the cane motion synchronization with its user gait. The control strategy looks promising after several experiments. After further investigations and experiments with end-users, the proposed control law could pave the road toward its use in robotic canes used either as permanent assistance or during rehabilitation.

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“…One wheel cane robots, the conventional type, and mobile base ones are the two main types of the cane robots. In Ady et al, 6 the generation and optimization of gait for people with impaired leg was proposed to provide the required support for the patient during the normal walk by a one wheel active cane. One-wheel telescopic active cane was used to assist human with one impaired lower limb during the straightforward gait in Ady et al 7 One omni-directional wheel cane robot with differential mechanism at the center was proposed in Shimizu et al 8 to support the user during the normal walk.…”

Section: Introductionmentioning

confidence: 99%

Development of a 4-DOF cane robot to enhance walking activity of elderly

Naeem

Assal

2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Recently, the potential for assistive devices to enhance the walking activity of the elderly has increased. Elderly have muscle weakness in their lower limbs and they are liable to persistent injuries because of falling on the ground. Lately, different mobility aid robots, especially canes, have been proposed to improve their walking activity. The complicated design and the unsuitability for real-time fall prevention are two main demerits of the proposed cane robots in literature. In this paper, it is proposed to develop a simple yet effective 4-DOF cane robot for real-time fall prevention of elderly to work in two modes namely, normal walking and fall prevention. It consists of a stick that is connected to an omni-directional mobile platform by a simple revolute joint. In the normal walking mode, the cane robot is kinematically controlled to follow the human in the front and achieve a desired distance and orientation apart from the human. The quite short response time that is required to prevent the elderly falling by the cane robot is a challenging problem. So, based on the full dynamic model in the 3D space, an impedance controller whose parameters tuned by the genetic algorithm with force/torque constraints is developed. Additionally, for the sake of using the proposed cane robot by different users with different heights and interactive forces, a model reference adaptive control is imposed to the cane robot to overcome the system uncertainties. The results prove that the four DOFs are enough to prevent falling and the kinematic controller achieves the follow-in-the-front concept accurately as well as the dynamic responses are suitable for real-time fall prevention and ensure the robustness against the uncertainties.

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Analysis of cane-assisted walking through nonlinear optimization

Cited by 5 publications

References 29 publications

Development and control of a one-wheel telescopic active cane

Development and control of a one-wheel telescopic active cane

Robotic Cane Controlled to Adapt Automatically to Its User Gait Characteristics

Development of a 4-DOF cane robot to enhance walking activity of elderly

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