Gait Analysis of Walking Locomotion Enhanced by an Impedance-Controlled Gait-Aid Walker-Type Robot
In this study, we conducted gait analysis of walking locomotion enhanced by an impedance-controlled gait-aid walker-type robot. The purpose of this study was to clarify the effect of different impedance parameters set of the robot on the movement of the lower extremity joints and the muscle activity...
Saved in:
| Published in | IEEE/SICE International Symposium on System Integration pp. 1187 - 1192 |
|---|---|
| Main Authors | , , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE
01.01.2020
|
| Subjects | |
| Online Access | Get full text |
| ISSN | 2474-2325 |
| DOI | 10.1109/SII46433.2020.9025977 |
Cover
Loading…
| Abstract | In this study, we conducted gait analysis of walking locomotion enhanced by an impedance-controlled gait-aid walker-type robot. The purpose of this study was to clarify the effect of different impedance parameters set of the robot on the movement of the lower extremity joints and the muscle activity of the lower extremities. The experimental results show that there is a significant difference in the maximum knee joint extension angular velocity during the swing phase without movement restriction, and there is a significant difference in the muscle activity of the tibialis anterior under right knee joint flexion restriction using an orthosis to restrict the flexing and extending movement of the knee joint. We revealed that the difference in damping coefficient of the impedance parameters set of the robot changes the subject's gait pattern. |
|---|---|
| AbstractList | In this study, we conducted gait analysis of walking locomotion enhanced by an impedance-controlled gait-aid walker-type robot. The purpose of this study was to clarify the effect of different impedance parameters set of the robot on the movement of the lower extremity joints and the muscle activity of the lower extremities. The experimental results show that there is a significant difference in the maximum knee joint extension angular velocity during the swing phase without movement restriction, and there is a significant difference in the muscle activity of the tibialis anterior under right knee joint flexion restriction using an orthosis to restrict the flexing and extending movement of the knee joint. We revealed that the difference in damping coefficient of the impedance parameters set of the robot changes the subject's gait pattern. |
| Author | Yokogawa, Ryuichi Tsumugiwa, Toru Watanabe, Shun |
| Author_xml | – sequence: 1 givenname: Shun surname: Watanabe fullname: Watanabe, Shun organization: Doshisha University,Graduate School of Life and Medical Sciences,Kyoto,Japan – sequence: 2 givenname: Toru surname: Tsumugiwa fullname: Tsumugiwa, Toru organization: Doshisha University,Department of Biomedical Engineering,Kyoto,Japan – sequence: 3 givenname: Ryuichi surname: Yokogawa fullname: Yokogawa, Ryuichi organization: Doshisha University,Department of Biomedical Engineering,Kyoto,Japan |
| BookMark | eNotkFFLwzAUhaMoOOd-gQj5A5k3N21u8zjGnIWBoBMfR9KmGu2S0fal_95N93TgfJzv4dyyq5iiZ-xBwlxKMI9vZZnpTKk5AsLcAOaG6ILNDBWSsJBaa8ou2QQzygQqzG_YrO-_AUBqqZXBCXNrGwa-iLYd-9Dz1PAP2_6E-Mk3qUr7NIQU-Sp-2Vj5mruR28jL_cHXp0IsUxy61LZHdPKIRaj_9r4T2_Hg-Wtyabhj141tez8755S9P622y2exeVmXy8VGBNRmEFgU0BAoLbOaDHqngSivrATCnEBS43JHGVaNd1Lp-sgK57wBqwulsFZTdv_vDd773aELe9uNu_Mr6hcR6ld4 |
| ContentType | Conference Proceeding |
| DBID | 6IE 6IL CBEJK RIE RIL |
| DOI | 10.1109/SII46433.2020.9025977 |
| DatabaseName | IEEE Electronic Library (IEL) Conference Proceedings IEEE Xplore POP ALL IEEE Xplore All Conference Proceedings IEEE Xplore IEEE Proceedings Order Plans (POP All) 1998-Present |
| DatabaseTitleList | |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Computer Science |
| EISBN | 9781728166674 1728166675 |
| EISSN | 2474-2325 |
| EndPage | 1192 |
| ExternalDocumentID | 9025977 |
| Genre | orig-research |
| GroupedDBID | 6IE 6IF 6IK 6IL 6IN AAJGR AAWTH ABLEC ADZIZ ALMA_UNASSIGNED_HOLDINGS BEFXN BFFAM BGNUA BKEBE BPEOZ CBEJK CHZPO IEGSK IPLJI OCL RIE RIL RNS |
| ID | FETCH-LOGICAL-i269t-2880f703614d792eb60775ca107257017fb5b742cfeb136d75c8bbe90a68332d3 |
| IEDL.DBID | RIE |
| IngestDate | Wed Aug 27 02:36:27 EDT 2025 |
| IsPeerReviewed | false |
| IsScholarly | false |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-i269t-2880f703614d792eb60775ca107257017fb5b742cfeb136d75c8bbe90a68332d3 |
| PageCount | 6 |
| ParticipantIDs | ieee_primary_9025977 |
| PublicationCentury | 2000 |
| PublicationDate | 2020-Jan. |
| PublicationDateYYYYMMDD | 2020-01-01 |
| PublicationDate_xml | – month: 01 year: 2020 text: 2020-Jan. |
| PublicationDecade | 2020 |
| PublicationTitle | IEEE/SICE International Symposium on System Integration |
| PublicationTitleAbbrev | SII |
| PublicationYear | 2020 |
| Publisher | IEEE |
| Publisher_xml | – name: IEEE |
| SSID | ssj0001616392 |
| Score | 1.7454718 |
| Snippet | In this study, we conducted gait analysis of walking locomotion enhanced by an impedance-controlled gait-aid walker-type robot. The purpose of this study was... |
| SourceID | ieee |
| SourceType | Publisher |
| StartPage | 1187 |
| SubjectTerms | System integration |
| Title | Gait Analysis of Walking Locomotion Enhanced by an Impedance-Controlled Gait-Aid Walker-Type Robot |
| URI | https://ieeexplore.ieee.org/document/9025977 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1LT8MwDLa2nTgN2BBv5cCRdH2kryOaNjbEEAImdpuSNBUTU4um7gC_HrvtNoE4cKsSJa3iJra_2P4AroydauNojwtHBlzgL8QlHoM81BLlL_zU9SnBefIQjKbibubPGnC9zYUxxpTBZ8aix_IuP8n1mqCyHl2Job3ShCY6blWu1g5PCdCyiN06Scex497zeCxQ33roBLq2VY_9QaJS6pBhGyabt1ehI-_WulCW_vpVmPG_n7cP3V22Hnvc6qEDaJjsENobugZW794OqFu5KNimCgnLU_Yql4SUs_tc5xWdDxtkb2VMAFOfTGZsjFZ1Qg28X8W0L7GL5uE3i6Qcb1acfFn2lKu86MJ0OHjpj3hNscAXbhAX3MXtm1INLkckYewaFVBJPC3RKSR6OydMla_Qe9YpnulekGBfpJSJbRlEnucm3hG0sjwzx8ASIyJHCrQHYyO08KQkZnWDkxMs7Ecn0KElm39UVTTm9Wqd_t18BnsktgrsOIdWsVqbC1T_hbos5f4NMuKuUA |
| linkProvider | IEEE |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3NT8IwFH9BPOgJFYzf9uDRAtu6sR0NAUGBGIXIjbRdF4lkM2Qc9K_3vW1ANB68LW3aLv16H32_9wO4Mc1IG0s7XFjS4wK3EJd4DfKWlrj-wo1slwDOw5HXm4iHqTstwe0GC2OMyYLPTJ0-s7f8MNErcpU16EkM9ZUd2HUJjJujtbYeFQ91i8AuYDpWM2i89PsCJa6DZqDdrBetf9CoZFKkW4Hhevw8eOS9vkpVXX_9Ss343x88gNoWr8eeNpLoEEomPoLKmrCBFee3CupezlO2zkPCkoi9ygX5ytkg0UlO6MM68VsWFcDUJ5Mx66NeHVIBb-dR7Quson743TzM2pslJ2uWPScqSWsw6XbG7R4vSBb43PaClNt4gCPKwmWJsBXYRnmUFE9LNAuJ4M5qRcpVaD_rCG91xwuxzlfKBE3p-Y5jh84xlOMkNifAQiN8SwrUCAMjtHCkJG51g52TY9j1T6FKUzb7yPNozIrZOvu7-Br2euPhYDbojx7PYZ-WMHd9XEA5Xa7MJSoDqbrK9sA3eV6xmA |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=IEEE%2FSICE+International+Symposium+on+System+Integration&rft.atitle=Gait+Analysis+of+Walking+Locomotion+Enhanced+by+an+Impedance-Controlled+Gait-Aid+Walker-Type+Robot&rft.au=Watanabe%2C+Shun&rft.au=Tsumugiwa%2C+Toru&rft.au=Yokogawa%2C+Ryuichi&rft.date=2020-01-01&rft.pub=IEEE&rft.eissn=2474-2325&rft.spage=1187&rft.epage=1192&rft_id=info:doi/10.1109%2FSII46433.2020.9025977&rft.externalDocID=9025977 |