Multimodal Human-Robot Interaction for Walker-Assisted Gait

Authors
Cifuentes, Carlos A.; Rodriguez, Camilo; Frizera Neto, Anselmo; Bastos Filho, Teodiano Freire; Carelli Albarracin, Ricardo Oscar
Publication Year
2016
Language
English
Format
article
Status
Published version
Description
Human mobility is affected by different types of pathologies and also decreases gradually with age. In this context, Smart Walkers may offer important benefits for human assisted-gait in rehabilitation and functional compensation scenarios. This paper proposes a new interaction strategy for human-walker cooperation. The presented strategy is based on the acquisition of human gait parameters by means of data fusion from inertial measurement units and a laser range finder. This paper includes the mathematical formulation of the controller, simulations, and practical experimentation of the interaction strategy, in order to show the performance of the control system, including the parameter detection methodology. In the experimental study, despite the continuous oscillation during the walking, the parameter estimation was suitable for assisted ambulation, showing an appropriate adaptive behavior with changes in human linear velocity. Finally, the controller keeps the walker continuously following in front of the human gait, and it is shown how the walker orientation follows the human orientation during the real experiments.
Fil: Cifuentes, Carlos A.. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Rodriguez, Camilo. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Frizera Neto, Anselmo. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Bastos Filho, Teodiano Freire. Universidade Federal Do Espirito Santo. Centro Tecnológico; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina
Subject
HUMAN-ROBOT INTERACTION
INERTIAL MEASUREMENT UNITS (IMUS) SENSOR
LASER RANGE FINDER (LRF)
MULTIMODAL INTERFACE
WALKER-ASSISTED GAIT
Ingeniería de Sistemas y Comunicaciones
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
INGENIERÍAS Y TECNOLOGÍAS
Access level
Restricted access
License
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repository
CONICET Digital (CONICET)
Institution
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identifier
oai:ri.conicet.gov.ar:11336/61196