Control and Evaluation of Body Weight Support Walker for Overground Gait Training

Dong, Zonghao; Luces, José Victorio Salazar; Hirata, Yasuhisa

doi:10.1109/lra.2021.3068691

Cited by 10 publications

(16 citation statements)

References 27 publications

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“…Assuming that the initial velocity and terminal velocity are known, the initial acceleration and terminal acceleration are both zero, and the transition time length is 𝑡 0 , a cubic polynomial can be determined. The velocity and acceleration expressions are shown in Equation (10).…”

Section: Wheel System Control Methods Based On Walking Speedmentioning

confidence: 99%

“…During walking, the pneumatic walking assist device is worn on the right lower limb of the human body, and the pneumatic walking assists device works with the intelligent walker coordinately to provide walking assistance force for the user's lower limb (hip joint). Dong et al [10] combined the weight support system with the intelligent walker to support the human body in the process of standing and walking. During walking, according to the gait phase of the user's lower limbs, the stiffness of the support system can be controlled to make the user have a more natural gait.…”

Section: Introductionmentioning

confidence: 99%

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Design of foot-wheel cooperation walking assistance robot and control method for human-robot coordination movement

Li,

Liu,

Yan

et al. 2023

J. Phys.: Conf. Ser.

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To meet the walking demand of people who is less able to exercise, a foot-wheel cooperation walking assistance robot is designed, a control method of human-robot coordination movement is proposed, and then the walking on-the-wheel system is realized. Firstly, the structure of the foot-wheel cooperation walking assistance robot is designed, the kinematics of human lower limbs is analyzed, and the movement relationship between the foot system and wheel system is established. Secondly, the control methods of the foot system and wheel system are studied respectively, composite control method is used to realize the function that the motion of the human foot is followed by the pedal. Based on the user’s walking information and the motion relationship between the foot system and the wheel system, the coordinated motion control of the foot system and the wheel system is realized. Finally, an experimental prototype of foot-wheel cooperation walking assistance robot is developed, then the foot-wheel cooperation walking assistance experiment is completed. Experimental results show that the function of walking on the wheeled system can be realized by the proposed human-robot coordination movement method.

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Section: Wheel System Control Methods Based On Walking Speedmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design of foot-wheel cooperation walking assistance robot and control method for human-robot coordination movement

Li,

Liu,

Yan

et al. 2023

J. Phys.: Conf. Ser.

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show abstract

“…Knowing where the individual is within their gait cycle is also imperative, as the prescribed motions or forces should change with gait progression. The way the gait cycle is used within the control of a robotic device can be discrete [28]- [30] or continuous [25], [31]. The gait cycle is broken down into sections for many discrete applications, like stance, swing, preswing, etc., and different loadings or motions are prescribed.…”

Section: A Prior Workmentioning

confidence: 99%

“…The gait cycle is broken down into sections for many discrete applications, like stance, swing, preswing, etc., and different loadings or motions are prescribed. Finite state machines (FSM) use inertial measurement units (IMU) [29] or load cell [28] data to determine the present gait phase. For a more continuous force or movement profile, a continuous estimation of the gait cycle percentage can be output from a normalized state space and a reference trajectory [25] or a machine learning algorithm in real-time [31].…”

Section: A Prior Workmentioning

confidence: 99%

Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System

Stramel

Prado

Roy

et al. 2023

IEEE Trans. Neural Syst. Rehabil. Eng.

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Robotic gait training may improve overground ambulation for individuals with poor control over pelvic motion. However, there is a need for an overground gait training robotic device that allows full control of pelvic movement and synchronizes applied forces to the user's gait. This work evaluates an overground robotic gait trainer that applies synchronized forces on the user's pelvis, the mobile Tethered Pelvic Assist Device. To illustrate one possible control scheme, we apply an assistive frontal plane pelvic moments synchronized with the user's continuous gait in real-time. Ten healthy adults walked with the robotic device, with and without frontal plane moments. The frontal plane moments corresponded to 10% of the user's body weight with a moment arm of half their pelvic width. The frontal plane moments significantly increased the range of frontal plane pelvic angles from 2.6°to 9.9°and the sagittal and transverse planes from 4.6°to 10.1°and 3.0°to 8.3°, respectively. The frontal plane moments also significantly increased the activation of the left gluteus medius muscle, which assists in regulating pelvic obliquity. The right gluteus medius muscle activation did not significantly differ when frontal plane moments were applied. This work highlights the ability of the mobile Tethered Pelvic Assist Device to apply a continuous pelvic moment that is synchronized with the user's gait cycle. This capability could change how overground robotic gait training strategies are designed and applied. The potential for gait training interventions that target gait deficits or muscle weakness can now be explored with the mobile Tethered Pelvic Assist Device.

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“…In order to address this situation, many researchers have developed various nursing care support systems using robotics, Augmented reality (AR), Mixed Reality (MR) and Virtual reality (VR) technologies. So far, many care support systems have been proposed, including a teaching system to help caregivers learn nursing care [1] [2] [3] [4], a teaching system to support the patient's rehabilitation [5] [6] [7] [8], and a robotic system to support the patient's activities by physically contacting the patient [9] [10].…”

Section: Introductionmentioning

confidence: 99%

Nursing Care Teaching System Based on Mixed Reality for Effective Caregiver-Patient Interaction

Aoki

Luces

Tafrishi

et al. 2023

2023 IEEE/SICE International Symposium on System Integration (SII)

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In the nursing care tasks such as assistance for transferring and walking, it is necessary to provide appropriate nursing care movements depending on factors such as the patient's pose and the degree of disability. However, for novice caregivers to practice and learn appropriate nursing care, they must practice for a long time under the guidance of skilled caregivers. To solve this problem, we propose a novel framework for a system that teaches appropriate nursing care actions according to the current situation. The realization of such a teaching system requires technology to recognize the current situation and effectively teach the interaction between the caregiver and the patient. In this article, we propose a system that integrates depth camera-based pose estimation of the patient and Mixed Reality (MR) technology to present the target motion of the patient to a caregiver. To accurately present the patient's target pose to the novice caregivers, our system displays an avatar showing the patient's ideal animation overlaid on the actual patient. Experimental results show that our system can accurately instruct the caregiver about the patient's target pose in each movement procedure.

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Control and Evaluation of Body Weight Support Walker for Overground Gait Training

Cited by 10 publications

References 27 publications

Design of foot-wheel cooperation walking assistance robot and control method for human-robot coordination movement

Design of foot-wheel cooperation walking assistance robot and control method for human-robot coordination movement

Effects of Timed Frontal Plane Pelvic Moments During Overground Walking With a Mobile TPAD System

Nursing Care Teaching System Based on Mixed Reality for Effective Caregiver-Patient Interaction

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