Underwater Walking Using Soft Sensorless Gait Assistive Suit

Tetsuro Miyazaki, Hiroshi Suzuki, Daisuke Morisaki, Takahiro Kanno, Ryoken Miyazaki, Toshihiro Kawase, Yukio Kawakami, Kenji Kawashima

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

1 Citation (Scopus)

Abstract

In this paper, we applied our soft sensorless gait assistive suit to underwater walking, which is popular as a training method for elder persons and persons in rehabilitation. The underwater training has an effect that the weight of the trainee is canceled by water's buoyancy, and the trainee can carry out desired walking exercises with lower leg load by using the gait assistive suit in the underwater situation. The gait assistive suit is driven by pneumatic artificial rubber muscles (PARMs). The walking phase is detected from the pressure derivative in the PARMs, and the suit assists walking during the swing phase. The gait assistive suit consists of an attachment unit and a control unit, and these units are separated physically and connected only by air tubes. The attachment unit has a simple and sensorless structure without any electrical devices. Sensors in the control unit are only pressure sensors, and pressure information is used for detecting appropriate assist timings. Therefore, even when the attachment unit is in the underwater, the proposed gait assistive suit is able to use in the same manner as the ground situation. To verify applicability of the proposed gait assistive suit, we carried out the underwater walking experiments. As a result, it was confirmed that the gait assistive suit worked correctly in the underwater situation.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages237-242
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - 2019 Apr 25
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: 2019 Jan 142019 Jan 16

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period19/1/1419/1/16

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

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  • Cite this

    Miyazaki, T., Suzuki, H., Morisaki, D., Kanno, T., Miyazaki, R., Kawase, T., Kawakami, Y., & Kawashima, K. (2019). Underwater Walking Using Soft Sensorless Gait Assistive Suit. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 237-242). [8700346] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700346