Authors: Suzuki, Kenta¹; Mito, Gouji¹; Kawamoto, Hiroaki²; Hasegawa, Yasuhisa¹; Sankai, Yoshiyuki¹

Source: Advanced Robotics, Volume 21, Number 12, 2007 , pp. 1441-1469(29)

Publisher: VSP, an imprint of Brill

Abstract:

This paper proposes an algorithm to estimate human intentions related to walking in order to comfortably and safely support a paraplegia patient's walk. Robot Suit HAL (Hybrid Assistive Limb) has been developed for enhancement of a healthy person's activities and for support of a physically challenged person's daily life. The assisting method based on bioelectrical signals such as myoelectricity successfully supports a healthy person's walking. These bioelectrical signals, however, cannot be measured properly from a paraplegia patient. Therefore another interface that can estimate a patient's intentions without any manual controller is desired for robot control since a manual controller deprives a patient of his/her hand freedom. Estimation of a patient's intentions contributes to providing not only comfortable support but also safe support, because any inconformity between the robot suit motion and the patient motion results in his/her stumbling or falling. The proposed algorithm estimates a patient's intentions from a floor reaction force (FRF) reflecting a patient's weight shift during walking and standing. The effectiveness of this algorithm is investigated through experiments on a paraplegia patient who has a sensory paralysis on both legs, especially his left leg. We show that HAL supports the patient's walk properly, estimating his intentions based on the FRF, while he keeps his own balance by himself.

Keywords: ROBOT SUIT; PARAPLEGIA; WALKING SUPPORT; INTENTION ESTIMATION; FLOOR REACTION FORCE

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855307781746061

Affiliations: 1: Graduate School of Systems and Information Engineering, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan 2: Japan Association for the Advancement of Medical Equipment, NKD Building, 3-42-6 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan

Publication date: 2007-12-01

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