DOI QR코드

DOI QR Code

Gait Assist Method by Wearable Robot for Incomplete Paraplegic Patients

하지 부분마비 장애인을 위한 착용형 로봇의 보행 보조 방법

  • Woo, Hanseung (Department of Mechanical Engineering, Sogang University) ;
  • Lee, Jangmok (Department of Mechanical Engineering, Sogang University) ;
  • Kong, Kyoungchul (Department of Mechanical Engineering, Sogang University)
  • Received : 2017.03.27
  • Accepted : 2017.05.08
  • Published : 2017.05.31

Abstract

An important characteristic of people with partially impaired walking ability, such as incomplete paraplegics, is that they are able to generate voluntary motion of lower-limbs. Therefore, wearable robots for the incomplete paraplegic patients require a different assistance method compared to those of complete paraplegics. First, the wearable robot should be controlled to not resist wearer's motion. Second, it should be able to generate assistive torque accurately when needed. In this paper, a wearable robot, called EROWA, for the incomplete paraplegic patients is introduced. EROWA utilizes compact rotary series elastic actuators (cRSEAs) and a control method called the zero impedance control to reduce the mechanical resistance. An assistive torque trajectory is proposed to assist gait in this paper. The proposed method is verified by simulation and experimental studies.

Acknowledgement

Supported by : National Rehabilitation Center

References

  1. A. Esquenazi, et al., "The rewalk powered exoskeleton to restore ambulatory function to individuals with thoraciclevel motor-complete spinal cord injury," American Journal of Physical Medicine & Rehabilitation, vol. 91, no. 11 pp. 911-921, Nov. 2012. https://doi.org/10.1097/PHM.0b013e318269d9a3
  2. D. Sanz Merodio, et al., "Control motion approach of a lower limb orthosis to reduce energy consumption," International Journal of Advanced Robotic Systems, vol. 9, no. 6, pp. 1-8, 2012. https://doi.org/10.5772/7789
  3. Hian Kai Kwa, J. H. Noorden, M. Missel, T. Craig, J. E. Pratt, and P. D. Neuhaus, "Development of the IHMC Mobility Assist Exoskeleton," 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan, pp. 2556-2562, 2009.
  4. T. Lenzi, M.C. Carrozza, and S.K. Agrawal, "Powered Hip Exoskeletons Can Reduce the User's Hip and Ankle Muscle Activations During Walking," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 21, no. 6, pp. 938-948, Nov. 2013. https://doi.org/10.1109/TNSRE.2013.2248749
  5. T. Nakamura, K. Saito, ZhiDong Wang and K. Kosuge, "Realizing model-based wearable antigravity muscles support with dynamics terms," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Canada, pp. 2694-2699, 2005.
  6. J. Meuleman, E. van Asseldonk, G. van Oort, H. Rietman and H. van der Kooij, "LOPES II-Design and Evaluation of an Admittance Controlled Gait Training Robot With Shadow-Leg Approach," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 24, no. 3, pp. 352-363, Mar. 2016. https://doi.org/10.1109/TNSRE.2015.2511448
  7. Tingfang Yan, Marco Cempini, Calogero Maria Oddo, Nicola Vitiello, "Review of assistive strategies in powered lower-limb orthoses and exoskeletons," Robotics and Autonomous Systems, vol. 64, pp.120-136, Feb. 2015. https://doi.org/10.1016/j.robot.2014.09.032
  8. Kyoungchul Kong, Joonbum bae, and Masayoshi Tomizuka, "A Compact Rotary Series Elastic Actuator for Human Assistive Systems," 2012 IEEE/ASME transactions on mechatronics, vol. 17, no. 2, pp. 288-297, Jan. 2012.
  9. Alexandra S. Voloshina and Deniel P. Ferris, "Biomechanics and energetics of running on uneven terrain," The journal of experimental biology, pp. 711-719, Mar. 2015.
  10. Hanseung Woo, Evan Chang-Siu, Kyoungchul Kong, and Doyoung Jeon, "Observation of Gait Patterns and Orientation Angles for Development of an Active Ankle-Foot Prosthesis," The 19th World Congress of the International Federation of Automatic Control. Cape Town, South Africa, pp. 2147-2152, 2014.
  11. C.E. Clauser, et al., "Weight, volume, and center of mass of segments of the human body", Wright-Patterson Air Force Base, Ohio, U.S., AMRL TR 69-70, Aug. 1969.