Development of Walking Assist Robot with Body Weight Support Mechanism

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Gait rehabilitation is a necessary training process during early-stage treatment for patients suffering from stroke or Spinal Cord Injury (SCI). However, patients with decreased lower extremity muscle strength may have difficulty keeping the stability of the upper trunk and have the possibility of falling down. Therefore, it is necessary to provide patients with Partial Body Weight Support (PBWS) and to ensure safety during bipedal locomotion. In this paper, we introduce a mechatronic system design of a walking assist robot with Body Weight Support (BWS) mechanism to assist locomotor rehabilitation training for patients with stroke or SCI. The BWS functionality is realized by using a Variable Stiffness Mechanism (VSM) and ground load signals can be measured using a pair of force sensor-based robotic shoe systems. The proposed control system design is implemented in the QNX real-time operation system and the experimental result illustrates the validity of the proposed robotic architecture.

本文言語English
ホスト出版物のタイトル2021 IEEE/SICE International Symposium on System Integration, SII 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ554-559
ページ数6
ISBN(電子版)9781728176581
DOI
出版ステータスPublished - 2021 1 11
イベント2021 IEEE/SICE International Symposium on System Integration, SII 2021 - Virtual, Iwaki, Fukushima, Japan
継続期間: 2021 1 112021 1 14

出版物シリーズ

名前2021 IEEE/SICE International Symposium on System Integration, SII 2021

Conference

Conference2021 IEEE/SICE International Symposium on System Integration, SII 2021
国/地域Japan
CityVirtual, Iwaki, Fukushima
Period21/1/1121/1/14

ASJC Scopus subject areas

  • 人工知能
  • 情報システム
  • 情報システムおよび情報管理
  • 制御およびシステム工学
  • 産業および生産工学
  • 機械工学

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