Treadmill motor current value based walk phase estimation

Eiichi Ohki, Yasutaka Nakashima, Takeshi Ando, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

We have developed a gait rehabilitation robot for hemiplegic patients using the treadmill. A walk phase, which includes time balance of stance and swing legs, is one of the most basic indexes to evaluate patients' gait. In addition, the walking phase is one of the indexes to control our robotic rehabilitation system. However, conventional methods to measure the walk phase require another system such as the foot switch and force plate. In this paper, an original algorithm to estimate the walk phase of a person on a treadmill using only the current value of DC motor to control the treadmill velocity is proposed. This algorithm was verified by experiments on five healthy subjects, and the walk phase of four subjects could be estimated in 0.2 (s) errors. However, the algorithm had erroneously identified a period of time in the stance phase as swing phase time when little body weight loaded on the subject's leg. Because a period of time with little body weight to affected leg is often observed in a hemiplegic walk, the proposed algorithm might fail to properly estimate the walk phase of hemiplegic patients. However, this algorithm could be used to estimate the time when body weight is loaded on patient legs, and thus could be used as a new quantitative evaluation index.

Original languageEnglish
Title of host publicationProceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Subtitle of host publicationEngineering the Future of Biomedicine, EMBC 2009
PublisherIEEE Computer Society
Pages7131-7134
Number of pages4
ISBN (Print)9781424432967
DOIs
Publication statusPublished - Jan 1 2009
Event31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 - Minneapolis, MN, United States
Duration: Sep 2 2009Sep 6 2009

Publication series

NameProceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009

Other

Other31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
CountryUnited States
CityMinneapolis, MN
Period9/2/099/6/09

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All Science Journal Classification (ASJC) codes

  • Cell Biology
  • Developmental Biology
  • Biomedical Engineering
  • Medicine(all)

Cite this

Ohki, E., Nakashima, Y., Ando, T., & Fujie, M. G. (2009). Treadmill motor current value based walk phase estimation. In Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 (pp. 7131-7134). [5332924] (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009). IEEE Computer Society. https://doi.org/10.1109/IEMBS.2009.5332924