Precise Foot Positioning of Walking Robot for Paraplegic Patient Wearing Exoskeleton by Using Electrical Stimulation Feedback
Precise Foot Positioning of Walking Robot for Paraplegic Patient Wearing Exoskeleton by Using Electrical Stimulation Feedback
复制标题
利用电刺激反馈对截瘫患者佩戴外骨骼行走机器人进行足部精确定位
DOI：
10.1115/1.4040354
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Hasegawa Yasuhisa
中科院分区：
文献类型：
--
作者：
Li Mengze;Yuan Zhaofan;Aoyama Tadayoshi;Hasegawa Yasuhisa
电动外骨骼的研发有望支持截瘫患者的行走。在目前阶段，外骨骼不允许患者自愿控制自己的步态，也不提供感觉反馈来补偿下半身感觉的丧失。提出了一种可穿戴式步行控制界面，实现了自主步态控制；提出了一种电刺激方式，告知患者足部位置，实现了自主步态控制。在这项研究中，使用了一个模拟截瘫患者穿着外骨骼的行走机器人来研究所提出的接口和刺激方法的性能。我们证实，通过使用该接口，受试者能够控制机器人的步态3m的距离。此外，电刺激反馈的准确性被证实接近于通过人眼获得的视觉反馈。实验结果表明，所提出的接口和电刺激反馈可以应用于完全性截瘫患者的步行支持系统。
The research and development of powered exoskeletons is expected to support the walking of paraplegic patients. At the current stage, exoskeletons do not allow patients to voluntarily control their gait, nor do they provide sensory feedback to compensate for the loss of lower-body sensation. This paper proposes a wearable walking control interface to achieve voluntary gait control, and an electrical stimulation method to inform the patients about their foot position for voluntary gait control. In this study, a walking robot that simulated a paraplegic patient wearing an exoskeleton was used to investigate the performance of the proposed interface and stimulation method. We confirmed that, by using the interface, the subjects were able to control the robot gait for a distance of 3 m. Moreover, the accuracy of the electrical stimulation feedback was confirmed to approximate the visual feedback achieved through the human eyes. The experimental results revealed that the proposed interface and electrical stimulation feedback could be applied to a walking support system for patients with complete paraplegia.