Fast Gait Mode Detection and Assistive Torque Control of an Exoskeletal Robotic Orthosis for Walking Assistance

Gait modes, such as level walking, stair ascent/descent, and ramp ascent/descent, show different lower-limb kinematic and kinetic characteristics. Therefore, an accurate detection of these modes is critical for a wearable robot to provide appropriate power assistance. In this paper, a fast gait-mode...

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Published inIEEE transactions on robotics Vol. 34; no. 4; pp. 1035 - 1052
Main Authors Weiguang Huo, Mohammed, Samer, Amirat, Yacine, Kyoungchul Kong
Format Journal Article
LanguageEnglish
Published New York IEEE 01.08.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuation
Artificial Intelligence
Ascent
Assistive torque control
Automatic
Computer Science
Computer simulation
Descent
Electromyography
Engineering Sciences
Exoskeletons
Foot
Fuzzy logic
Fuzzy systems
Gait
gait mode detection
human motion assistance
Kinematics
Knee
Legged locomotion
lower limb exoskeleton
Orthoses
Robot sensing systems
Robotics
Robots
Systems and Control
Torque
Walking
Human motion assistance
Lower limb exoskeleton
Assistive torque control
Gait mode detection
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Abstract Gait modes, such as level walking, stair ascent/descent, and ramp ascent/descent, show different lower-limb kinematic and kinetic characteristics. Therefore, an accurate detection of these modes is critical for a wearable robot to provide appropriate power assistance. In this paper, a fast gait-mode-detection method based on a body sensor system is proposed. A fuzzy logic algorithm is used to estimate the likelihoods of gait modes in real time. Since the proposed fast gait mode detection makes it possible to select appropriate kinematic and kinetic models for each gait mode, assistive torques required for assisting the human motions can be obtained more naturally and immediately. The proposed methods are all verified by experiments with a lower-limb exoskeletal assistive robot with transparent actuation by series elastic actuators, called the exoskeletal robotic orthosis for walking assistance. Four healthy subjects participated in the experiments. All subjects were asked to perform different gait modes using their normal and simulated abnormal gaits, i.e., blocking the knee joint of one leg during walking. Latency and success rate of gait mode detection are selected as performance criteria. The effectiveness of the proposed gait-mode-based assistive strategy is evaluated using electromyography muscular activities.
AbstractList Gait modes, such as level walking, stair ascent/descentand ramp ascent/descent, show different lower-limbkinematic and kinetic characteristics. Therefore, an accuratedetection of these modes is critical for a wearable robot toprovide appropriate power assistance. In this paper, a fastgait mode detection method based on a body sensor systemis proposed. A fuzzy logic algorithm is used to estimate thelikelihoods of gait modes in real-time. Since the proposed fastgait mode detection makes it possible to select appropriatekinematic and kinetic models for each gait mode, assistive torquesrequired for assisting the human motions can be obtained morenaturally and immediately. The proposed methods are all verifiedby experiments with a lower-limb exoskeletal assistive robotwith transparent actuation by series elastic actuators, calledthe Exoskeletal Robotic Orthosis for Walking Assistance (EROWA).Four healthy subjects participated in the experiments.All subjects were asked to perform different gait modes usingtheir normal and simulated abnormal gaits, i.e., blocking theknee joint of one leg during walking. Latency and success rateof gait mode detection are selected as performance criteria. Theeffectiveness of the proposed gait mode based assistive strategyis evaluated using EMG muscular activities.
Gait modes, such as level walking, stair ascent/descent, and ramp ascent/descent, show different lower-limb kinematic and kinetic characteristics. Therefore, an accurate detection of these modes is critical for a wearable robot to provide appropriate power assistance. In this paper, a fast gait-mode-detection method based on a body sensor system is proposed. A fuzzy logic algorithm is used to estimate the likelihoods of gait modes in real time. Since the proposed fast gait mode detection makes it possible to select appropriate kinematic and kinetic models for each gait mode, assistive torques required for assisting the human motions can be obtained more naturally and immediately. The proposed methods are all verified by experiments with a lower-limb exoskeletal assistive robot with transparent actuation by series elastic actuators, called the exoskeletal robotic orthosis for walking assistance. Four healthy subjects participated in the experiments. All subjects were asked to perform different gait modes using their normal and simulated abnormal gaits, i.e., blocking the knee joint of one leg during walking. Latency and success rate of gait mode detection are selected as performance criteria. The effectiveness of the proposed gait-mode-based assistive strategy is evaluated using electromyography muscular activities.
Author Weiguang Huo
Mohammed, Samer
Amirat, Yacine
Kyoungchul Kong
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  surname: Kyoungchul Kong
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Keywords Human motion assistance
Lower limb exoskeleton
Assistive torque control
Gait mode detection
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Snippet Gait modes, such as level walking, stair ascent/descent, and ramp ascent/descent, show different lower-limb kinematic and kinetic characteristics. Therefore,...
Gait modes, such as level walking, stair ascent/descentand ramp ascent/descent, show different lower-limbkinematic and kinetic characteristics. Therefore, an...
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StartPage 1035
SubjectTerms Actuation
Artificial Intelligence
Ascent
Assistive torque control
Automatic
Computer Science
Computer simulation
Descent
Electromyography
Engineering Sciences
Exoskeletons
Foot
Fuzzy logic
Fuzzy systems
Gait
gait mode detection
human motion assistance
Kinematics
Knee
Legged locomotion
lower limb exoskeleton
Orthoses
Robot sensing systems
Robotics
Robots
Systems and Control
Torque
Walking
Title Fast Gait Mode Detection and Assistive Torque Control of an Exoskeletal Robotic Orthosis for Walking Assistance
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