The Proceedings of the Dynamics & Design Conference
Online ISSN : 2424-2993
2020
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Gait Training Support Based on Arm-Holding Mobile Robot
Ryo SAEGUSA
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Pages 420-

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Abstract

Recently, needs of robot technology specialized for locomotive rehabilitation and gait assistance are expected increasingly. In gait and locomotive assistance, appropriate recognition of walking patterns and navigation are required; however, most of supporting devices are directly intervening in movements of lower limbs and therefore they let walking patterns be unnatural. In order to solve this problem, we propose a method to estimate walking patterns from movement of lower limb movements and force/contact interaction with upper libs. Step length and velocity can be measured from the movement of lower limbs by a laser-based sensor, and the dependency on the assistance can be measured from the upper limb by a force and tactile sensors, aiming in the optimal control of intervention in walking support for gait navigation. In this paper, we focus on a detection algorithm of walking patterns from the lower limbs.

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© 2020 The Japan Society of Mechanical Engineers
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