An algorithm of walk phase estimation with only treadmill motor current

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

研究成果: 書籍/レポート タイプへの寄稿会議への寄与

10 被引用数 (Scopus)

抄録

To develop a gait rehabilitation robot for hemiplegic patients, quantitative evaluations of patient ability is needed. Patient's walk phase, which includes time balance of stance and swing legs, is one of the most useful indexes. However, conventional methods measuring walk phase require laborious preparations. In this paper, a novel algorithm estimating walk phase on a treadmill by observing DC motor current is proposed. In comparison of this algorithm and conventional methods, it was verified that the proposed algorithm had as the same accuracy as foot switch. Moreover, the proposed algorithm could estimate stance phase in 0.2 (s) errors between measurements of force plate mostly (4 out of 5 healthy subjects). However, result from the 5th subject showed that the proposed algorithm had erroneously identified stance phase as swing phase when little body weight loaded on leg. This characteristic is often observed in hemiplegic gait. Therefore, the proposed algorithm might need improvement of motor current threshold. However, this algorithm had capable of estimating the time of loading body weight on leg, and thus could be useful as a quantitative evaluation tool.

本文言語英語
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ4060-4066
ページ数7
DOI
出版ステータス出版済み - 12月 11 2009
外部発表はい
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, 米国
継続期間: 10月 11 200910月 15 2009

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

その他

その他2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
国/地域米国
CitySt. Louis, MO
Period10/11/0910/15/09

!!!All Science Journal Classification (ASJC) codes

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

フィンガープリント

「An algorithm of walk phase estimation with only treadmill motor current」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル