Underwater Walking Using Soft Sensorless Gait Assistive Suit
Underwater Walking Using Soft Sensorless Gait Assistive Suit
复制标题
使用软无传感器步态辅助服进行水下行走
DOI：
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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;Hiroshi Suzuki;Daisuke Morisaki;T. Kanno;Ryoken Miyazaki;Toshihiro Kawase;Y. Kawakami;K. Kawashima
在本文中，我们将所研制的无传感器软步态辅助服应用于水下行走，这是一种非常受老年人和康复者欢迎的训练方法。水下训练的效果是水的浮力抵消了受训者的重量，受训者可以在水下情况下使用步态辅助服进行腿部负荷较低的步行练习。步态辅助服是由气动人造橡胶肌肉驱动的。行走阶段由parm中的压力导数检测，在摆动阶段，宇航服辅助行走。步态辅助服由附着单元和控制单元组成，这些单元在物理上是分开的，仅通过气管连接。该连接单元具有简单的无传感器结构，没有任何电气设备。控制单元中的传感器仅为压力传感器，压力信息用于检测适当的辅助定时。因此，即使当附着单元在水下时，所提出的步态辅助服也能够以与地面情况相同的方式使用。为了验证所提出的步态辅助服的适用性，我们进行了水下行走实验。结果表明，步态辅助服在水下环境下工作正常。
In this paper, we applied our soft sensorless gait assistive suit to underwater walking, which is popular as a training method for elder persons and persons in rehabilitation. The underwater training has an effect that the weight of the trainee is canceled by water’s buoyancy, and the trainee can carry out desired walking exercises with lower leg load by using the gait assistive suit in the underwater situation. The gait assistive suit is driven by pneumatic artificial rubber muscles (PARMs). The walking phase is detected from the pressure derivative in the PARMs, and the suit assists walking during the swing phase. The gait assistive suit consists of an attachment unit and a control unit, and these units are separated physically and connected only by air tubes. The attachment unit has a simple and sensorless structure without any electrical devices. Sensors in the control unit are only pressure sensors, and pressure information is used for detecting appropriate assist timings. Therefore, even when the attachment unit is in the underwater, the proposed gait assistive suit is able to use in the same manner as the ground situation. To verify applicability of the proposed gait assistive suit, we carried out the underwater walking experiments. As a result, it was confirmed that the gait assistive suit worked correctly in the underwater situation.