Abstract
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.
| Original language | English |
|---|---|
| Title of host publication | IET Conference Publications |
| Publisher | Institution of Engineering and Technology |
| Volume | 2015 |
| Edition | CP676 |
| Publication status | Published - 2015 |
| Event | 5th Asia International Symposium on Mechatronics, AISM 2015 - Guilin, China Duration: 2015 Oct 7 → 2015 Oct 10 |
Other
| Other | 5th Asia International Symposium on Mechatronics, AISM 2015 |
|---|---|
| Country | China |
| City | Guilin |
| Period | 15/10/7 → 15/10/10 |
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Keywords
- Elderly
- Exoskeleton
- Impedance control
- Walking analysis
- Walking assistance
ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
New exoskeleton structure and control algorithm considering walking characteristics. / Hirota, K.; Murakami, Toshiyuki.
IET Conference Publications. Vol. 2015 CP676. ed. Institution of Engineering and Technology, 2015.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - New exoskeleton structure and control algorithm considering walking characteristics
AU - Hirota, K.
AU - Murakami, Toshiyuki
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
UR - http://www.scopus.com/inward/record.url?scp=84973351731&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973351731&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84973351731
VL - 2015
BT - IET Conference Publications
PB - Institution of Engineering and Technology
ER -