Browse > Article

Detection of Implicit Walking Intention for Walking-assistant Robot Based on Analysis of Bio/Kinesthetic Sensor Signals  

Jang, Eun-Hye (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀)
Chun, Byung-Tae (한경대학교 웹정보공학과)
Chi, Su-Young (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀)
Lee, Jae-Yeon (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀)
Cho, Young-Jo (한국전자통신연구원 융합기술연구부문 로봇/인지지스템 연구부 인지기술연구팀)
Publication Information
The Journal of Korea Robotics Society / v.5, no.4, 2010 , pp. 294-301 More about this Journal
Abstract
In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.
Keywords
Walking Intention; FSR (force sensing resistor) Sensor; Tilt Sensor;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 Y. Handa, T. Handa, M. Ichie, H. Murakami, N. Hoshimiya, S. Ishikawa, and K. Ohkubo, "Functional electrical stimulation (FES) systems for restoration of motor function of paralyzed muscle-versatile systems and a portable system", Frontiers of Medical and Biological Engineering, Vol.4, No.4, pp.241-255, 1992.
2 박병림, 김민선, 김상수, 정동명, 홍승홍, "일측 마비환자의 전기자극에 의한 보행기능의 회복", 전자공학회지, 제29권, 제6호, pp.465-471, 1992.
3 B. Baker, "Walk of life", The Engineer, Vol.293, No.7750, pp.30-31, 6, 2008.
4 S.K. Ng, and H.J. Chizeck, "Fuzzy model identification for classification of gait events in paraplegics", IEEE Transactions on Fuzzy Systems, Vol.5, No.4, pp.536-544, 1997.   DOI   ScienceOn
5 R. Dai, R.B. Stei, B.J. Andrews, K.B. James, and M. Wieler, "Application of tilt sensors in functional electrical stimulation", IEEE Transactions on Rehabilitation Engineering, Vol.4, No.2, pp.63-72, 1996.   DOI   ScienceOn
6 J. Rose, and J.G. Gamble, Human walking. Williams & Wilkins 2nd Ed.(Philidelphia), 1994.
7 Honda Ltd., URL: www.robotlegs.org.
8 Argo Medical Technologies Ltd., URL: http://www.argomedtec. com.
9 H. Kawamoto, and Y. Sankai, "Power assist method based on phase sequence and muscle force condition for HAL", Advanced Robotics, Vol.19, No.7, pp.717-734, 2005.   DOI   ScienceOn
10 J.W. Min, K. Lee, S.C. Lim, and D.S. Kwon, "Human-friendly interfaces of wheelchair robotics system for handicapped persons", Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol.2, pp.1505-1510, 2002.
11 B. Miripour, Climbing and Walking Robot, K. Suzuki, G. Mito, H. Kawamoto, Y. Hasegawa, and Y. Sankai, "Intention-based walking support for paraplegia patients with robot suit HAL", pp.383-408, 2010.
12 전도영, 이용권, 최문택, 김문상 "프론티어 지능로봇사업단의 노인을 위한 Healthcare Robot 개발 소개", 대한전기학회지: 전기의 세계, 제58권, 제7호, pp. 45-53, 2009.   과학기술학회마을
13 A. Williamson, F. Bloemhof, and H. Boom, H. (1990). "Automatic stance-swing phase detection from accelerometer data for peroneal nerve stimulation", IEEE Transactions on Biomedical Engineering, Vol.37, No.12, pp.1201-1208, 1990.   DOI   ScienceOn
14 A. Kostov, B.J. Andrew, D.B. Popovic, R.B. Stein, and W. Armstron, "Machine learning in control of functional electrical stimulation systems for locomotion", IEEE Transactions on Biomedical Engineering, Vol.42, No.6, pp.541-551, 1995.   DOI   ScienceOn
15 강성재, 류제청, 김규석, 김영호, 문무성, "하반신 마비환자를 위한 동력보행보조기의 퍼지제어 기법 개발", 제어.로봇.시스템학회 논문지, 제15권, 제2호, pp.163-168, 2009.   과학기술학회마을
16 J. Perry, "Kinesiology of lower extremity bracing", Clinical Orthopaedics and Related Research, Vol.102, pp.18-31, 1974.   DOI
17 김헌희, 정진우, 장효영, 김진오, 변증남, "작업지향 설계를 위한 의복형 보행보조 로봇의 분류방법", 로봇공학회지 논문지, 제1권, 제1호, pp.1-8, 2006.
18 김경, 강승록, 박용군, 정구영, 권대규, "족관절 보조기를 착용한 고령자의 족관절 족저굴곡 토크 보조특성 분석", 로봇공학회 논문지, 제5권, 제1호 pp.48-54, 2010.
19 D. Winter, Biomechanics and Motor Control of Human Movement, Wiley-Interscience Publication, 1990.
20 H. Kazerooni, Ryan Steger, and Lihua Huang, "Hybrid control of the Berkeley Lower Extremity Exoskeleton (BLEEX)", The International Journal of Robotics Research, Vol.25, pp.561-573, 2006.   DOI   ScienceOn
21 MIT media lab, URL: http://www.media.mit.edu/
22 S. Jezernik, G. Colombo, T. Kelly, H. Frueh, and M. Morari, "Robotic orthosis Lokomat: a rehabilitation and research tool", Neuromodulation, Vol.6, no.2, pp.108-115, 2003.   DOI   ScienceOn