Development of a control method of a walking assistance apparatus for the elderly or rehabilitants

Eiichirou Tanaka, Tadaaki Ikehara, Hirokazu Yusa, Yusuke Sato, Tomohiro Sakurai, Shozo Saegusa, Kazuhisa Ito, Louis Yuge

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

1 Citation (Scopus)

Abstract

A prototype for a walking assistance apparatus for the elderly or rehabilitants of motor palsy patients was developed as a next-generation vehicle or movable neuro-rehabilitation training appliance, using a novel spatial parallel link mechanism and a bearing lift. The flat steps of the apparatus move in parallel with the ground; the apparatus can support entire leg alignment (including soles) and assist; walking behavior at ankle, knee and hip joints simultaneously. To respond to the variation of equipped person's walking velocity, the length of stride and walking cycle while walking with wearing the apparatus were compensated by using walking ratio. Therefore the apparatus can be controlled in response to equipped person's will. Next, we developed a control method of the apparatus by using impedance control, taking into account the dynamics of the apparatus and the legs of an equipped person, and assist ratio for the equipped person. By adjusting the value of natural angular frequency of the desired dynamic equation for the equipped person, this apparatus can assist walking according to the equipped person's desired response of the apparatus. Furthermore, motor palsy and muscle weakness patients can walk by themselves by using the apparatus; patients who have ambulation difficulty can use the apparatus with weight bearing lift that we developed. Using the apparatus with the weight bearing lift prevents stumbling and enables input of walking movement to the brain motor area. From the results of measured %MVC, the validity of the weight bearing lift was shown.

Original languageEnglish
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
Pages643-652
Number of pages10
Volume6
EditionPARTS A AND B
DOIs
Publication statusPublished - 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC
Duration: 2011 Aug 282011 Aug 31

Other

OtherASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CityWashington, DC
Period11/8/2811/8/31

Fingerprint

Bearings (structural)
Patient rehabilitation
Muscle
Brain

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Tanaka, E., Ikehara, T., Yusa, H., Sato, Y., Sakurai, T., Saegusa, S., ... Yuge, L. (2011). Development of a control method of a walking assistance apparatus for the elderly or rehabilitants. In Proceedings of the ASME Design Engineering Technical Conference (PARTS A AND B ed., Vol. 6, pp. 643-652) https://doi.org/10.1115/DETC2011-48389

Development of a control method of a walking assistance apparatus for the elderly or rehabilitants. / Tanaka, Eiichirou; Ikehara, Tadaaki; Yusa, Hirokazu; Sato, Yusuke; Sakurai, Tomohiro; Saegusa, Shozo; Ito, Kazuhisa; Yuge, Louis.

Proceedings of the ASME Design Engineering Technical Conference. Vol. 6 PARTS A AND B. ed. 2011. p. 643-652.

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

Tanaka, E, Ikehara, T, Yusa, H, Sato, Y, Sakurai, T, Saegusa, S, Ito, K & Yuge, L 2011, Development of a control method of a walking assistance apparatus for the elderly or rehabilitants. in Proceedings of the ASME Design Engineering Technical Conference. PARTS A AND B edn, vol. 6, pp. 643-652, ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011, Washington, DC, 11/8/28. https://doi.org/10.1115/DETC2011-48389
Tanaka E, Ikehara T, Yusa H, Sato Y, Sakurai T, Saegusa S et al. Development of a control method of a walking assistance apparatus for the elderly or rehabilitants. In Proceedings of the ASME Design Engineering Technical Conference. PARTS A AND B ed. Vol. 6. 2011. p. 643-652 https://doi.org/10.1115/DETC2011-48389
Tanaka, Eiichirou ; Ikehara, Tadaaki ; Yusa, Hirokazu ; Sato, Yusuke ; Sakurai, Tomohiro ; Saegusa, Shozo ; Ito, Kazuhisa ; Yuge, Louis. / Development of a control method of a walking assistance apparatus for the elderly or rehabilitants. Proceedings of the ASME Design Engineering Technical Conference. Vol. 6 PARTS A AND B. ed. 2011. pp. 643-652
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