Context-aware assisted interactive robotic walker for Parkinson's disease patients
Context-aware assisted interactive robotic walker for Parkinson's disease patients
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DOI：
10.1109/iros.2012.6385791
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发表时间：
2012-12
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影响因子：
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通讯作者：
Wei-Hao Mou;Ming-Fang Chang;Chien-Ke Liao;Yuan-Han Hsu;Shih-Huan Tseng;L. Fu
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文献类型：
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作者：
Wei-Hao Mou;Ming-Fang Chang;Chien-Ke Liao;Yuan-Han Hsu;Shih-Huan Tseng;L. Fu
本文介绍了一种情境感知辅助的帕金森病（PD）患者的主动机器人步行者。大多数PD患者不仅会失去平衡，还会出现步态异常。这些症状往往使PD患者更容易跌倒，导致生活质量低下。我们使用隐马尔可夫模型（HMM）来分析PD患者的步态，然后使用我们的步行者来帮助患者调整他们的步态变得正常，同时在识别出异常步态时应用听觉提示。为了防止使用者在跌倒之前向前倾斜，当检测到使用者突然向前推动时，步行者锁定电机。此外，步行者可以记录来自用户的步态的静态，使得治疗师相对容易地监测康复过程。最后，自动分析步行者前方的道路状况，使用户能够动态地调整他/她的步行速度。据我们所知，在此提出的主动机器人步行者应该是第一个系统，可以提供步行辅助PD患者。在我们的实验中，该系统的可行性和性能进行了评估PD患者在两个实际的高级护理单位。
This paper introduces a context-aware assisted active robotic walker for Parkinson's disease (PD) patients. Most of PD patients suffer from not only loss of balance but also abnormal gaits. These symptoms tend to make PD patients fall down more easily and result in low quality of life. We use Hidden Markov Model (HMM) to analyze the gait of PD patients, and then use our walker to help patients adjust their gait to become normal while applying auditory cues when abnormal gaits are recognized. To prevent user from leaning forward before falling down, the walker locks the motors when sudden forward pushing by the user is detected. Moreover, the walker can record the statics of gait from the user, making the therapists monitor the rehabilitation process relatively easier. Finally, the road conditions in front of the walker will be automatically analyzed, making user able to adjust his/her walking pace dynamically. To our best knowledge, the hereby proposed active robotic walker should be the first system which can provide walking aid to PD patients. In our experiments, the feasibility and performance of this system are evaluated by PD patients at two actual senior care units.