TY - GEN
T1 - New exoskeleton structure and control algorithm considering walking characteristics
AU - Hirota, K.
AU - Murakami, T.
N1 - Publisher Copyright:
© 2015, Institution of Engineering and Technology. All rights reserved.
Copyright:
Copyright 2021 Elsevier B.V., All rights reserved.
PY - 2015
Y1 - 2015
N2 - Walking assistive device is gaining attention, because of aging society these days. To assist their rehabilitation and realize their independent walk, the field of wearable device, such as exoskeleton is being researched. This paper mainly focuses on the device for patients with mild hemiplegia, caused by stroke. Many walking assistive devices were researched so far. However, these devices restrict patients' natural motion due to the structure of the device. Moreover, conventional control system has not satisfied the balance between assistance and patients' will. Therefore, the mechanism of new assistive device which reduce the restriction of the knee joint is proposed. This exoskeleton lifts up their lower limb by one link and impedance control considering the walking characteristics of the patient are also proposed. The controller focuses on the walking phase, floor reaction force and reaction force of each joint. After discussing walking characteristics of healthy person and patient with hemiplegia, proposed control is introduced. Effectiveness of proposed exoskeleton is confirmed by simulation.
AB - Walking assistive device is gaining attention, because of aging society these days. To assist their rehabilitation and realize their independent walk, the field of wearable device, such as exoskeleton is being researched. This paper mainly focuses on the device for patients with mild hemiplegia, caused by stroke. Many walking assistive devices were researched so far. However, these devices restrict patients' natural motion due to the structure of the device. Moreover, conventional control system has not satisfied the balance between assistance and patients' will. Therefore, the mechanism of new assistive device which reduce the restriction of the knee joint is proposed. This exoskeleton lifts up their lower limb by one link and impedance control considering the walking characteristics of the patient are also proposed. The controller focuses on the walking phase, floor reaction force and reaction force of each joint. After discussing walking characteristics of healthy person and patient with hemiplegia, proposed control is introduced. Effectiveness of proposed exoskeleton is confirmed by simulation.
KW - Elderly
KW - Exoskeleton
KW - Impedance control
KW - Walking analysis
KW - Walking assistance
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M3 - Conference contribution
AN - SCOPUS:84973351731
T3 - IET Conference Publications
BT - IET Conference Publications
PB - Institution of Engineering and Technology
T2 - 5th Asia International Symposium on Mechatronics, AISM 2015
Y2 - 7 October 2015 through 10 October 2015
ER -