Development of an Ankle Assistive Robot with Instantly Gait-Adaptive Method

Mingyang Xu, Yifan Hua, Yunfan Li, Jyun-Rong Zhuang, Keisuke Osawa, Kei Nakagawa, Hee-Hyol Lee, L. Yuge, Eiichirou Tanaka
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Abstract

As the population ages, the number of elderly people suffering from systemic diseases such as stroke increases. To address this problem, various wearable walking assistive robots have been developed to promote physical exercise for stroke prevention. Wearable assistive robots have shown the ability to improve human mobility. However, most of these robots are heavy, bulky, and impractical. In this study, we developed a compact ankle assistive robot for elderly users to promote walking exercise. By informing the user of correct motion and timing, the robot can guide the user to achieve a healthy gait by only assisting their ankle joint. The robot provides faster-than-ankle motion to allow the user to feel supported while walking. Users can adjust the robot’s assistance parameters through a graphical user interface (GUI) according to their needs. Furthermore, we proposed a gait-adaptive method for ankle assistive robots to adapt to the user’s changing gait. Hence, the robot can automatically adjust the parameters to provide more accurate walking assistance. Finally, the results of an evaluation experiment demonstrated the feasibility of human gait adaptation. The proposed methods have the advantages of low cost and easy implementation.
基于瞬时步态自适应方法的踝关节辅助机器人研制
随着人口老龄化,患中风等全身性疾病的老年人数量也在增加。为了解决这个问题,各种可穿戴的步行辅助机器人已经被开发出来,以促进身体锻炼以预防中风。可穿戴辅助机器人已经显示出改善人类行动能力的能力。然而,这些机器人大多笨重、笨重、不实用。在这项研究中,我们开发了一种紧凑型的踝关节辅助机器人,用于老年用户促进步行锻炼。通过告知用户正确的动作和时间,机器人可以通过帮助用户的踝关节来指导用户实现健康的步态。该机器人提供比脚踝更快的运动,让用户在行走时感到有支撑。用户可以根据需要通过图形用户界面(GUI)调整机器人的辅助参数。此外,我们提出了一种踝关节辅助机器人的步态自适应方法,以适应用户不断变化的步态。因此,机器人可以自动调整参数,以提供更准确的行走辅助。最后,通过评价实验验证了步态自适应的可行性。所提出的方法具有成本低、易于实现的优点。
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