Verification of the knee exoskeleton controller using novel gait phase detection method

Yuta Tawaki, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Gait motion is the essential function for human being. Some diseases make it difficult for people to walk. Walking assist robot has been developed to assist gait motion for disabled people. Knee Exoskeleton is one of the walking assist robots. Knee Exoskeleton generates the assist torque for knee flexion or knee extension. The direction of the assist torque is controlled by the gait phase detection method. However, the conventional robot interferes with human intention because it generates flexion torque consistently in stance phase. In early stance phase, the user wants assist torque to support knee extension, but he wants knee flexion assist torque in late stance phase. The conventional controller does not detect late stance phase. In the previous study of the author, the novel gait phase detection algorithm is proposed to distinguish late stance phase. In this research, the novel algorithm is introduced for the proposed controller. A subject walks on the treadmill while wearing the knee exoskeleton. In the experiment, the exoskeleton is controlled by the conventional controller and the proposed controller. EMG of the popliteal muscle during gait motion is analyzed to evaluate whether the proposed controller succeeds to prevent interference with user's intention. Through the experiment, it is verified that the proposed controller succeeds to decrease the EMG of knee muscle by distinguishing early stance phase and late stance phase.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3304-3309
Number of pages6
ISBN (Electronic)9781509066841
DOIs
Publication statusPublished - 2018 Dec 26
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: 2018 Oct 202018 Oct 23

Publication series

NameProceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
CountryUnited States
CityWashington
Period18/10/2018/10/23

Keywords

  • Force control
  • Gait phase detection
  • Paraplegia
  • Rehabilitation robot

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Control and Optimization

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  • Cite this

    Tawaki, Y., & Murakami, T. (2018). Verification of the knee exoskeleton controller using novel gait phase detection method. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 3304-3309). [8591359] (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591359