Proposal of Wheeled Gait-Training Walker with Dual-Assist Arms and Preliminary Pelvis-Handling Control
| العنوان: | Proposal of Wheeled Gait-Training Walker with Dual-Assist Arms and Preliminary Pelvis-Handling Control |
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| المؤلفون: | Hiroki Aoyama, Seonghee Jeong, Katsushi Ogawa, Kenji Uegami, Kazuo Yonenobu |
| المصدر: | Journal of Robotics and Mechatronics. 33:676-685 |
| بيانات النشر: | Fuji Technology Press Ltd., 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | 0209 industrial biotechnology, medicine.medical_specialty, General Computer Science, Computer science, 02 engineering and technology, DUAL (cognitive architecture), 020901 industrial engineering & automation, medicine.anatomical_structure, Physical medicine and rehabilitation, Gait training, 0202 electrical engineering, electronic engineering, information engineering, medicine, 020201 artificial intelligence & image processing, Electrical and Electronic Engineering, human activities, Pelvis |
| الوصف: | To achieve good rehabilitation in a person, the amount of walking by the person must be increased. Herein, a compact wheeled gait-training walker with dual-assist arms for assisting pelvic motion is proposed. The training walker is constructed by modifying a commercial wheeled walker with armrests. Therefore, it can be used easily by patients to perform their daily activities at rehabilitation sites. The hardware system and controller of the proposed assisting arms are designed based on gait-assist motions conducted by a physical therapist. The dual arms can achieve a pelvis-assisting motion with five degrees of freedom. A trajectory-following control with virtual compliance is implemented for the arms. Gait-assisting experiments are conducted, in which the dual arms allow a pelvic-like plate to follow the trajectory of a reference pose while reducing the upper body’s weight resting on the armrests. A 20 N force on the armrests, which represents the upper-limb load, is reduced while the plate follows the trajectory, and the proposed gait-assisting controller is validated. |
| تدمد: | 1883-8049 0915-3942 |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=doi_________::562229fae337f546a9656594b01a68d0Test https://doi.org/10.20965/jrm.2021.p0676Test |
| حقوق: | OPEN |
| رقم الانضمام: | edsair.doi...........562229fae337f546a9656594b01a68d0 |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 18838049 09153942 |
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