Intention-based walking support for paraplegia patient
Intention-based walking support for paraplegia patient
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DOI：
10.1109/icsmc.2005.1571559
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发表时间：
2005-10
期刊：
影响因子：
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通讯作者：
Kenta Suzuki;Y. Kawamura;Tomohiro Hayashi;T. Sakurai;Y. Hasegawa;Y. Sankai
中科院分区：
文献类型：
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作者：
Kenta Suzuki;Y. Kawamura;Tomohiro Hayashi;T. Sakurai;Y. Hasegawa;Y. Sankai
本文提出了一种估计人类行走意图的算法。本文不仅考虑了步行的启动或停止，而且考虑了步行周期。该算法被嵌入一个行走支持系统，一个可穿戴机器人“机器人套装HAL-3”，用于截瘫患者。对患者意图的估计是有效舒适的运动支持必不可少的，但HAL-3用于支持的肌电等生物信号无法正确测量。因此，该算法通过地板反作用力和身体姿势等其他渠道来估计患者的意图。通过两类患者的实验验证了该算法的有效性。一个人两条腿都有感觉麻痹，尤其是左腿有严重的问题。另一个在双腿的感觉和运动能力上有问题。我们显示HAL-3支持患者舒适的行走，估计患者的意图。
This paper proposes an algorithm to estimate human intentions during walking. Not only walk start or stop but walking cycle is considered as the intentions in this paper. The algorithm is embedded into a walking support system, a wearable robot "Robot Suit HAL-3", for paraplegia patients. The estimation of patients' intentions is indispensable for effective and comfortable motion support, but the biological signals such as myoelectricity which is used for the support by HAL-3 cannot be measured properly. The proposed algorithm, therefore, estimates patients' intentions from other channels such as a floor reaction force and a body posture. The effectiveness of this algorithm is investigated through experiments with two types of patients. One has a sensory paralysis on both legs, especially a left leg has severe trouble. The other has troubles in sensory and motor ability on both legs. We show HAL-3 supports patients' walk comfortably, estimating patient intentions.