A Motion Control of Soft Gait Assistive Suit by Gait Phase Detection Using Pressure Information
A Motion Control of Soft Gait Assistive Suit by Gait Phase Detection Using Pressure Information
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利用压力信息进行步态相位检测的软步态辅助服运动控制
DOI：
10.3390/app9142869
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
K. Kawashima
中科院分区：
文献类型：
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作者：
Tetsuro Miyazaki;Toshihiro Tagami;Daisuke Morisaki;Ryoken Miyazaki;Toshihiro Kawase;T. Kanno;K. Kawashima
近年来已经开发了动力辅助装置。为了检测佩戴者的运动，传统设备需要用户佩戴传感器。然而，佩戴许多传感器增加了佩戴时间，并且设备的可用性将变得更差。研制了一种气动人工橡胶肌肉驱动的柔性步态辅助服，并提出了其控制方法。所提出的服装易于穿着，因为附接单元不具有需要附接到受训者身体的任何电传感器。目标应用是在跑步机上的向前行走锻炼。控制单元使用小腿背部PARM中的压力信息来检测步态周期中的摆动前阶段。在检测之后，套装辅助受训者的腿部运动。辅助力由受控的PARM压力产生，并且考虑步态周期时间适当地改变压力输入时间。我们进行了行走实验;（1）验证所提出的控制方法正确地工作，以及（2）验证步态辅助服对于减少肌肉活动是否有效。最后，我们证实，准确的相位检测可以通过使用所提出的控制方法，和西装可以减少肌肉活动的受训者的腿。
Power assistive devices have been developed in recent years. To detect the wearer’s motion, conventional devices require users to wear sensors. However, wearing many sensors increases the wearing time, and usability of the device will become worse. We developed a soft gait assistive suit actuated by pneumatic artificial rubber muscles (PARMs) and proposed its control method. The proposed suit is easy to wear because the attachment unit does not have any electrical sensors that need to be attached to the trainee’s body. A target application is forward walking exercise on a treadmill. The control unit detects the pre-swing phase in the gait cycle using the pressure information in the calf back PARMs. After the detection, the suit assists the trainee’s leg motion. The assist force is generated by the controlled PARM pressure, and the pressure input time is changed appropriately considering the gait cycle time. We conducted walking experiments; (1) verifies the proposed control method works correctly, and (2) verifies whether the gait assistive suit is effective for decreasing muscular activity. Finally, we confirmed that the accurate phase detection can be achieved by using the proposed control method, and the suit can reduce muscular activity of the trainee’s leg.