Towards an intelligent wearable ankle robot for assistance to foot drop
| Autor: | Uriel Martinez-Hernandez, Victor M. Cedeno-Campos, Abbas A. Dehghani-Sanij, Adrian Rubio-Solis |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Foot drop Computer science Controller (computing) Wearable computer PID controller 02 engineering and technology 01 natural sciences 020901 industrial engineering & automation Gait (human) Wearable robot medicine Electrical and Electronic Engineering Simulation 010401 analytical chemistry Work (physics) Gait 0104 chemical sciences Human-Computer Interaction medicine.anatomical_structure Control and Systems Engineering Robot medicine.symptom Ankle |
| Zdroj: | Martinez Hernandez, U, Rubio-Solis, A, Cedeno-Campos, V & Dehghani-Sanij, A A 2019, Towards an intelligent wearable ankle robot for assistance to foot drop . in 2019 IEEE International Conference on Systems, Man and Cybernetics, SMC 2019 ., 8914170, IEEE International Conference on Systems, Man, and Cybernetics, IEEE, pp. 3410-3415, 2019 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Bari, Italy, 6/10/19 . https://doi.org/10.1109/SMC.2019.8914170 SMC |
| DOI: | 10.1109/SMC.2019.8914170 |
| Popis: | A wearable ankle robot prototype for assistance to foot drop is presented in this work. This device is built with soft and hard materials and employs one inertial sensor. First, the ankle robot uses a high-level method, developed with a Bayesian formulation, for recognition of walking activities and gait periods. Second, a low-level method, with a proportional-integral-derivative controller (PID), controls the wearable device to operate in assistive and transparent modes. In an assistive mode, activated by the toe-off detection, the wearable device assists the human foot in dorsiflexion orientation to reduce the effect of foot drop abnormality. In a transparent mode, activated by the heel-contact detection, the robot device follows the movements performed by the human foot. The wearable prototype is validated with experiments, in simulation and real-time modes, for recognition of walking activity and control of assistive and transparent modes during walking. Experiments achieved 99.87% and 99.20% accuracies for recognition of walking activity and gait periods. Results also show the ability of the wearable robot to operate according to the gait period recognised during walking. Overall, this work offers a wearable robot prototype with the potential to assist the human foot during walking, which is important to allow subjects to recover their confidence and quality of life. |
| Databáze: | OpenAIRE |
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