Cooperative control of exoskeletal assistive system for paraplegic walk-transferring between sitting posture and standing posture, and going up and down on stairs
Cooperative control of exoskeletal assistive system for paraplegic walk-transferring between sitting posture and standing posture, and going up and down on stairs
复制标题
截瘫行走-坐立姿转换、上下楼梯外骨骼辅助系统协同控制
DOI：
10.1109/robio.2010.5723421
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
Y. Sankai
中科院分区：
文献类型：
--
作者：
Y. Hasegawa;Junho Jang;Y. Sankai
提出了一种用于截瘫患者稳定行走的协同控制算法。该算法为截瘫行走生成下肢的稳定运动，接收患者与他/她的运动相关的偏好，例如站到坐和坐到站的转移、行走和上下楼梯。一种外骨骼步行支持系统，当患者通过使用诸如上肢运动的剩余功能来表示他/她的意愿时，根据患者意愿辅助患者下肢的运动。在我们的项目中，开发了一副具有多个自由度的手套，以将佩戴者的愿望传达给步行支撑系统。手套测量他/她的食指的摆动，其模拟他/她行走的脚运动，并测量他/她的腕关节的弯曲或偏离。基于手推车模型的协同控制算法设计每个关节的稳定运动轨迹，满足穿戴者的手和手腕运动所表达的愿望，然后由步行支撑系统实时执行所设计的运动。作为第一次试验，为了安全起见，使用小型人形机器人作为控制目标，该控制目标对应于实际情况中的患者身体和行走支持系统的组合。通过一些实验，它被证实，我们的算法使人形机器人开始和停止稳定的步行与可变步长在所需的步行方向从一个坐姿，它使机器人走到一边，上下楼梯。
This paper presents a cooperative control algorithm for a paraplegic patient to walk stably as requested. The algorithm generates stable motions of a lower limb for a paraplegic walk, receiving patient's preference related to his/her movement such as stand-to-sit and sit-to-stand transfers, walking and going up and down stairs. An exoskeletal walking support system assists motions of patient's lower limb in accordance with a patient wishes when a patient indicates his/her wishes by using residual functions such as motions of an upper limb. In our project, a pair of gloves with several DOFs was developed to convey wearer's wishes to the walking support system. The gloves measure his/her index fingers' swing that simulates foot motions of his/her walking and measure flexion or deviation of his/her wrist joint. The cooperative control algorithm based on a cart-table model designs trajectories of each joint for stable motions that satisfy the wishes expressed by the wearer's hand and wrist motions and then the designed motions are executed in realtime by the walking support system. As the first trial, a small humanoid robot is used for safety as a control target that corresponds to a combination of the patient body and the walking support system in an actual situation. Through some experiments it is confirmed that our algorithm enables the humanoid robot to start and stop stable walk with variable step length in the desired walking direction from a seated position and that it enables the robot to step aside and to go up and down stairs.