Browse > Article
http://dx.doi.org/10.7746/jkros.2014.9.3.133

Wearable and Motorized Crutch Control System  

Yoon, Dukchan (Electornic Systems Engineering, Hanyang University)
Jang, Giho (Electronic, Electrical, Control and Instrument Engineering, Hanyang University)
Choi, Youngjin (Electornic Systems Engineering, Hanyang University)
Publication Information
The Journal of Korea Robotics Society / v.9, no.3, 2014 , pp. 133-139 More about this Journal
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.
Keywords
Crutch; electromyogram; rehabilitation; aid; gait; walking;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 D. Popov, K. H. Lee, I. Gaponov, J. H. Ryu, "Twisted strings-based elbow exoskeleton", Journal of Korea Robotics Society, vol. 8, no. 3, pp. 164-172, 2013.   과학기술학회마을   DOI
2 Y. E. Kim and E. S. Jeon, "Analysis of muscle force variation in the lower extremity", The Korean Society of Mechanical Engineers, vol. 1, no. 1, pp. 251-267, 2000.
3 H. S. Park, and D. M. Ok, "Ergonomic analysis and design of an axilla crutch through QFD and discomfort experiments", Journal of the Ergonomics Society of Korea, vol. 27, no. 4, pp.103-108, 2000.   과학기술학회마을   DOI   ScienceOn
4 C. Chen, D. Zheng, A. Peng, C. Wang, and X. Wu, "Flexible design of a wearable lower limb exoskeleton robot", Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 209-214, 2013.
5 K. E. Gordon, G. S. Sawicki, and D. P. Ferris, "Mechanical performance of artificial pneumatic muscles to power an ankle-foot orthosis", Journal of Biomechanics, vol. 39, no. 10, pp. 1832-1841, 2006.   DOI   ScienceOn
6 S. H. Lee, S. Y. Shin, J. W. Lee, C. H. Kim, "Design of an 1 DOF assistive knee joint for a gait rehabilitation robot", Journal of Korea Robotics Society, vol. 8, no. 1, pp. 008-019, 2013.   과학기술학회마을   DOI
7 S. Li, C. W. Armstrong, and D. Cipriani, "Three-point gait crutch walking: variability in ground reaction force during weight bearing", Archives of physical Medicine and Rehabilitation, vol. 82, no.1, pp. 86-92, 2001.   DOI   ScienceOn
8 S. J. Kwon, "Assistive devices for the disabled in Korea: current statues and policy implications", Health-welfare Policy Forum, vol. 4, pp. 42-54, 2006.
9 G. S. Sim, and D. H. Song, "Trends on the patent map of crutch technology", Journal of Korea Intellectual Patent Society, vol. 7, no. 2, pp. 17-21, 2005.
10 T. J. Park, O. C. Jeong, and S. H. Yang, "Study on lower limb moment during axillary crutch gait according to changes in crutch length", The Korea Journal of Sports Science, vol. 22, no. 1, pp.1123-1132, 2013.
11 K. H. Cha, S. J. Kang, and Y. J. Choi, "Knee-wearable robot system using EMG signals", Journal of Control, Robotics, and Systems, vol. 15, no.3, pp. 286-292, 2009.   과학기술학회마을   DOI
12 D. M. Bauer, D. C. Finch, K. P. Mcgough, C. J. Benson, K. Finstuen, and S. C. Allison, "A comparative analysis of several crutch-length estimation techniques", Journal of the American Physical Therapy Association, vol. 71, pp. 294-300, 1991.
13 J. S. Kim, S. H. Lim, and Y. J. Shin, "A study on crutched walking frame with one-wheel drive", Journal of Korean Society of Mechanical Technology, vol. 15, no.3, pp. 351-356, 2013.   DOI
14 J. Perry, Gait analysis: normal and pathology function, New Jersey, SLACK, 1992.
15 P. K. Levangie, and C. C. Norkin, Joint structure and function: a comprehensive analysis 4th edition, F. A. Davis Company, pp.373-413, 2005.