Development of a Walking Promotion Device using Arm Swing Induced by Parametric Excitation : Forth report: Consideration of Influence of Device on Circular Walking
Development of a Walking Promotion Device using Arm Swing Induced by Parametric Excitation : Forth report: Consideration of Influence of Device on Circular Walking
复制标题
利用参数激励引起的手臂摆动开发步行促进装置：第四次报告：考虑装置对循环步行的影响
DOI：
10.1109/sii52469.2022.9708876
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Hashimoto Hiroshi
中科院分区：
文献类型：
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作者：
Yamada Kazuki;Yokota Sho;Matsumoto Akihiro;Chugo Daisuke;Hashimoto Hiroshi
这项研究通过使用佩戴在用户前臂上的称为“线性运动装置”的装置诱导手臂摆动来促进行走。该装置的原理是参数激励。在以往的文献中，该装置可以增加手臂摆动，步行速度和步幅在直线行走。在本文中，作者进行了实验，该装置是否干扰手臂摆动和步态的情况下，圆形步行。首先，为了了解步行过程中的手臂摆动，以确定环形步行中装置的控制方案，实验试图确认直线和环形步行之间的手臂摆动是否存在差异。结果，直线行走和环形行走之间没有差异。无论步行轨迹是直线还是转弯，直线步行的控制方案都能适应环形步行。其次，在直线步行控制方案下，进行了圆步行时手臂摆动和步态是否发生变化的实验。从结果来看，钟形步行时右臂摆动量增加，而其他情况下手臂摆动量、步行速度和步幅无变化。因此，即使执行直线步行的控制方案，在圆形步行中手臂摆动、步行速度和步幅也不受干扰。因此，直线行走的控制方案可以适应日常生活中的各种行走轨迹。
This research promotes walking by inducing arm swing using the device worn on the user’s forearm called "linear motion device". The device’s principle is parametric excitation. In previous paper, the device could increase the arm swing, walking speed and stride in straight-line walking. In this paper, the authors experimented whether the device interferes the arm swing and gait in case of circular walking. First, to learn the arm swing during walking aiming to determine the control scheme of the device in circular walking, the experiment tried to confirm whether there was a difference in arm swing between straight-line and circular walking. As the result, there were no differences between straight-line walking and circular walking. Regardless of walking trajectory (straight or turn), the control scheme of straight walking can adapt circular walking. Second, under the control scheme for straight-line walking, the experiment testing whether the arm swing and gait are changed in circular walking was conducted. From result, the right arm swing was increased in Clock Wise circular walking, and the other case of arm swing, walking speed and stride were no change. Consequently, arm swing, walking speed and stride were not interfered in circular walking even if the control scheme for straight-line walking was executed. Therefore, the control scheme for straight-line walking can adapt all kinds of walking trajectories in daily life.