IEICE Transactions on Information and Systems
Online ISSN : 1745-1361
Print ISSN : 0916-8532
Regular Section
Training Assist System of a Lower Limb Prosthetic Visualizing Floor-Reaction Forces Using a Color-Depth Sensing Camera
Kunihiro OGATATomoki MITATakeshi SHIMIZUNobuya YAMASAKI
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2015 Volume E98.D Issue 11 Pages 1916-1922

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Abstract

Some unilateral lower-limb amputees, have through continued exertion, increase the foot reaction force of the sound leg. The asymmetric gait with a prosthetic leg may thus negatively affect the musculoskeletal health of the leg on the healthy side. Therefore, it is important for these amputees to learn how to adjust the balance of each foot load in training. The aim of this study is to develop a training support system visualizing floor-reaction forces using a color-depth sensor. The pose of the entire body of the amputee is measured by the depth sensor, and the floor reaction force is estimated based on Zero Moment Point (ZMP), which is calculated using the center of mass of the amputee. Evaluation experiments of the proposed method were performed and they confirmed the effectiveness of the estimation method and the training with the visualization of reaction force.

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© 2015 The Institute of Electronics, Information and Communication Engineers
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