Exoskeleton robot system based on real-time gait analysis for walking assist_Journal of Biomedical Engineering

Authors：

XIE Zheng ¹ ,  WANG Mingjiang ¹ , HUANG Wulong ² , YONG Shanshan ² , WANG Xin'an ²

1. School of Electronic and Information Engineering, Harbin Institute of Technology, Shenzhen Graduate School, Shenzhen, Guangdong 518055, P.R.China;
2. School of Electronic and Computer Engineering, Peking University, Shenzhen Graduate School, Shenzhen, Guangdong 518055, P.R.China;

Corresponding author：

WANG Mingjiang, Email: mjwang@hit.edu.cn

Keywords：

gait analysis; weight support; exoskeleton; proportion-integral-derivative control

DOI：

10.7507/1001-5515.201607075

Video：

Export PDF Favorites Scan Get Citation

Abstract Full text Figures/Tables Video References Cited by

This paper presents a wearable exoskeleton robot system to realize walking assist function, which oriented toward the patients or the elderly with the mild impairment of leg movement function, due to illness or natural aging. It reduces the loads of hip, knee, ankle and leg muscles during walking by way of weight support. In consideration of the characteristics of the psychological demands and the disease, unlike the weight loss system in the fixed or followed rehabilitation robot, the structure of the proposed exoskeleton robot is artistic, lightweight and portable. The exoskeleton system analyzes the user's gait real-timely by the plantar pressure sensors to divide gait phases, and present different control strategies for each gait phase. The pressure sensors in the seat of the exoskeleton system provide real-time monitoring of the support efforts. And the drive control uses proportion-integral-derivative (PID) control technology for torque control. The total weight of the robot system is about 12.5 kg. The average of the auxiliary support is about 10 kg during standing, and it is about 3 kg during walking. The system showed, in the experiments, a certain effect of weight support, and reduction of the pressure on the lower limbs to walk and stand.

Citation： XIE Zheng, WANG Mingjiang, HUANG Wulong, YONG Shanshan, WANG Xin'an. Exoskeleton robot system based on real-time gait analysis for walking assist. Journal of Biomedical Engineering, 2017, 34(2): 265-270. doi: 10.7507/1001-5515.201607075 Copy

1.	刘克敏, 刘晓磊. 膝关节骨性关节炎康复治疗的现状及进展. 中华临床医师杂志:电子版, 2012, 6(4): 972-976.
2.	Kawamoto H, Lee S, Kanbe S, et al. Power assist method for HAL-3 using EMG-based feedback controller//2003 IEEE International Conference onSystems, Man and Cybernetics.Washington, D.C., USA, 2003: 1648-1653.
3.	周媛, 王宁华. 康复机器人概述. 中国康复医学杂志, 2015, 30(4): 400-403.
4.	Vashista V, Jin Xin, Agrawal S K. Active Tethered Pelvic Assist Device (A-TPAD) to study force adaptation in human walking//2014 IEEE International Conference on Robotics and Automation. Hong Kong, 2014: 718-723.
5.	Dine K M E, Yang C, Nozaki T, et al. Novel walking assist device based on generic human motion tracking criteria//2016 IEEE 14th International Workshop on Advanced Motion Control. Auckland, New Zealand, 2016: 38-43.
6.	Kim I, Cho W, Yang H. Assisting strategy of walking assistive device on inclined terrain//2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence. Jeju, Korea, 2013: 530-535.
7.	Kawamoto H, Kandone H, Sakurai T, et al. Development of an assist controller with robot suit HAL for hemiplegic patients using motion data on the unaffected side//2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Chicago, Illinois, USA, 2014: 3077-3080.
8.	Winter D A. Biomechanics and motor control of human movement. 4th ed. Hoboken, New Jersey: John Willy and Sons, 2009: 82-101.
9.	Wang P, Low K H, Lim P A C, et al. Modulation of weight off-loading level over body-weight supported locomotion training//2011 IEEE International Conference on Rehabilitation Robotics. Zurich, Switzerland, 2011: 1-6.
10.	Beltran A S, Yamhure G, Manrique M, et al. On the design of an ischiatic body weight support system (IBWS) for gait rehabilitation//2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics. Rome, Italy, 2012: 1434-1439.
11.	Ikeuchi Y, Ashihara J, Hiki Y. Walking assist device with bodyweight support system//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis, Missouri, USA, 2009: 4073-4079.
12.	Huang Wulong, Wang Xin’an, Xie Zheng, et al. A weight-supporting wearable robot for walking assist//2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics. Hangzhou, China, 2015:416-419.
13.	Tsukahara A, Hasegawa Y, Eguchi K, et al. Restoration of gait for spinal cord injury patients using HAL with intention estimator for preferable swing speed. IEEE Trans Neural Syst Rehabil Eng, 2015, 23(2): 308-318.
14.	Patterson K K, Nadkarni N K, Black S E, et al. Gait symmetry and velocity differ in their relationship to age. Gait Posture, 2012, 35(4): 590-594.
15.	Kawamoto H, Kadone H, Sakurai T, et al. Modification of hemiplegic compensatory gait pattern by symmetry-based motion controller of HAL//2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Milan, Italy, 2015: 4803-4807.

1. 刘克敏, 刘晓磊. 膝关节骨性关节炎康复治疗的现状及进展. 中华临床医师杂志:电子版, 2012, 6(4): 972-976.
2. Kawamoto H, Lee S, Kanbe S, et al. Power assist method for HAL-3 using EMG-based feedback controller//2003 IEEE International Conference onSystems, Man and Cybernetics.Washington, D.C., USA, 2003: 1648-1653.
3. 周媛, 王宁华. 康复机器人概述. 中国康复医学杂志, 2015, 30(4): 400-403.
4. Vashista V, Jin Xin, Agrawal S K. Active Tethered Pelvic Assist Device (A-TPAD) to study force adaptation in human walking//2014 IEEE International Conference on Robotics and Automation. Hong Kong, 2014: 718-723.
5. Dine K M E, Yang C, Nozaki T, et al. Novel walking assist device based on generic human motion tracking criteria//2016 IEEE 14th International Workshop on Advanced Motion Control. Auckland, New Zealand, 2016: 38-43.
6. Kim I, Cho W, Yang H. Assisting strategy of walking assistive device on inclined terrain//2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence. Jeju, Korea, 2013: 530-535.
7. Kawamoto H, Kandone H, Sakurai T, et al. Development of an assist controller with robot suit HAL for hemiplegic patients using motion data on the unaffected side//2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Chicago, Illinois, USA, 2014: 3077-3080.
8. Winter D A. Biomechanics and motor control of human movement. 4th ed. Hoboken, New Jersey: John Willy and Sons, 2009: 82-101.
9. Wang P, Low K H, Lim P A C, et al. Modulation of weight off-loading level over body-weight supported locomotion training//2011 IEEE International Conference on Rehabilitation Robotics. Zurich, Switzerland, 2011: 1-6.
10. Beltran A S, Yamhure G, Manrique M, et al. On the design of an ischiatic body weight support system (IBWS) for gait rehabilitation//2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics. Rome, Italy, 2012: 1434-1439.
11. Ikeuchi Y, Ashihara J, Hiki Y. Walking assist device with bodyweight support system//2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. St. Louis, Missouri, USA, 2009: 4073-4079.
12. Huang Wulong, Wang Xin’an, Xie Zheng, et al. A weight-supporting wearable robot for walking assist//2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics. Hangzhou, China, 2015:416-419.
13. Tsukahara A, Hasegawa Y, Eguchi K, et al. Restoration of gait for spinal cord injury patients using HAL with intention estimator for preferable swing speed. IEEE Trans Neural Syst Rehabil Eng, 2015, 23(2): 308-318.
14. Patterson K K, Nadkarni N K, Black S E, et al. Gait symmetry and velocity differ in their relationship to age. Gait Posture, 2012, 35(4): 590-594.
15. Kawamoto H, Kadone H, Sakurai T, et al. Modification of hemiplegic compensatory gait pattern by symmetry-based motion controller of HAL//2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Milan, Italy, 2015: 4803-4807.

Journal of Biomedical Engineering

Exoskeleton robot system based on real-time gait analysis for walking assist

Abstract Full text Figures/Tables Video References Cited by

Previous Article

Next Article

Format

Content