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

Yuta Tawaki, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3304-3309
ページ数6
ISBN(電子版)9781509066841
DOI
出版ステータスPublished - 2018 12 26
イベント44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
継続期間: 2018 10 202018 10 23

出版物シリーズ

名前Proceedings: 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

ASJC Scopus subject areas

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

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