Abstract
Robotic devices intended to assist patients recovering from hip movement disorders face two major problems, namely, difficulty in (1) enhancing self-efforts in gait training by only using a robotic device and (2) reproducing a patient's own coordinated motion during gait training. To solve these problems, the authors have developed a gait training device based on the master-slave system. This device treats the user's healthy limbs as the "master" and the paretic limbs for which the user wishes to achieve normal gait motions as the "slave". An inertial measurement unit is used to detect hip joint angular displacements and the time it takes for each displacement to occur; the hip joint angular displacement on the slave side is controlled by a proportional-integral-derivative (PID) controller. Six healthy persons were equipped with the device and asked to walk along a walkway so that their gait motion and the electromyographic activities in their lower limb muscles could be evaluated. The results of that experiment indicate that gait motion was preserved in the simulated paresis in the subjects' hip muscles, which suggests that the proposed master-slavetype gait training device can enhance users' efforts, and that the PID controller controlling angular displacements of the hip joint is able to reproduce natural gait motions.
| Original language | English |
|---|---|
| Pages (from-to) | 295-309 |
| Number of pages | 15 |
| Journal | Sensors and Materials |
| Volume | 28 |
| Issue number | 4 |
| DOIs | |
| Publication status | Published - 2016 Jan 1 |
| Externally published | Yes |
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Keywords
- Empirical model of the PAM
- Inertial measurement unit
- Pneumatic artificial muscle (PAM)
- Simulated electromyographic activities
- Symmetric gait patterns
ASJC Scopus subject areas
- Instrumentation
- Materials Science(all)
Cite this
Master-slave-type gait training system for hip movement disorders. / Miyoshi, Tasuku; Asaishi, Kenta; Nakamura, Taishu; Takagi, Motoki.
In: Sensors and Materials, Vol. 28, No. 4, 01.01.2016, p. 295-309.Research output: Contribution to journal › Article
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TY - JOUR
T1 - Master-slave-type gait training system for hip movement disorders
AU - Miyoshi, Tasuku
AU - Asaishi, Kenta
AU - Nakamura, Taishu
AU - Takagi, Motoki
PY - 2016/1/1
Y1 - 2016/1/1
N2 - Robotic devices intended to assist patients recovering from hip movement disorders face two major problems, namely, difficulty in (1) enhancing self-efforts in gait training by only using a robotic device and (2) reproducing a patient's own coordinated motion during gait training. To solve these problems, the authors have developed a gait training device based on the master-slave system. This device treats the user's healthy limbs as the "master" and the paretic limbs for which the user wishes to achieve normal gait motions as the "slave". An inertial measurement unit is used to detect hip joint angular displacements and the time it takes for each displacement to occur; the hip joint angular displacement on the slave side is controlled by a proportional-integral-derivative (PID) controller. Six healthy persons were equipped with the device and asked to walk along a walkway so that their gait motion and the electromyographic activities in their lower limb muscles could be evaluated. The results of that experiment indicate that gait motion was preserved in the simulated paresis in the subjects' hip muscles, which suggests that the proposed master-slavetype gait training device can enhance users' efforts, and that the PID controller controlling angular displacements of the hip joint is able to reproduce natural gait motions.
AB - Robotic devices intended to assist patients recovering from hip movement disorders face two major problems, namely, difficulty in (1) enhancing self-efforts in gait training by only using a robotic device and (2) reproducing a patient's own coordinated motion during gait training. To solve these problems, the authors have developed a gait training device based on the master-slave system. This device treats the user's healthy limbs as the "master" and the paretic limbs for which the user wishes to achieve normal gait motions as the "slave". An inertial measurement unit is used to detect hip joint angular displacements and the time it takes for each displacement to occur; the hip joint angular displacement on the slave side is controlled by a proportional-integral-derivative (PID) controller. Six healthy persons were equipped with the device and asked to walk along a walkway so that their gait motion and the electromyographic activities in their lower limb muscles could be evaluated. The results of that experiment indicate that gait motion was preserved in the simulated paresis in the subjects' hip muscles, which suggests that the proposed master-slavetype gait training device can enhance users' efforts, and that the PID controller controlling angular displacements of the hip joint is able to reproduce natural gait motions.
KW - Empirical model of the PAM
KW - Inertial measurement unit
KW - Pneumatic artificial muscle (PAM)
KW - Simulated electromyographic activities
KW - Symmetric gait patterns
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UR - http://www.scopus.com/inward/citedby.url?scp=84982840861&partnerID=8YFLogxK
U2 - 10.18494/SAM.2016.1180
DO - 10.18494/SAM.2016.1180
M3 - Article
AN - SCOPUS:84982840861
VL - 28
SP - 295
EP - 309
JO - Sensors and Materials
JF - Sensors and Materials
SN - 0914-4935
IS - 4
ER -