The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Wearable and Motorized Crutch Control System

착용형 전동 목발 제어시스템

  • Yoon, Dukchan (Electornic Systems Engineering, Hanyang University) ;
  • Jang, Giho (Electronic, Electrical, Control and Instrument Engineering, Hanyang University) ;
  • Choi, Youngjin (Electornic Systems Engineering, Hanyang University)
  • Received : 2014.07.18
  • Accepted : 2014.08.13
  • Published : 2014.08.28
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Abstract

This paper proposes a wearable and motorized crutch control system for the patients using the conventional crutches. The conventional crutches have a few disadvantages such as the inconvenience caused by the direct contact between the ground and the armpit of the patients, and unstable gait patterns. In order to resolve these problems, the motorized crutch is designed as a wearable type on an injured lower limb. In other words, the crutch makes the lower limb to be moved forward while supporting the body weight, protecting the lower limb with frames, and rotating a roller equipped on the bottom of the frames. Also the crutch is controlled using the electromyography and two force sensing resistor (FSR) sensors. The electromyography is used to extract the walking intention from the patient and the FSR sensors to classify the stance and swing phases while walking. As a result, the developed crutch makes the patients walk enabling both hands to be free, as if normal people do.

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References

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