Development of Assistance Level Adjustment Function for Variable Load on a Forearm-Supported Robotic Walker.
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| Titel: | Development of Assistance Level Adjustment Function for Variable Load on a Forearm-Supported Robotic Walker. |
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| Autoren: | Mori Y; Graduate School of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan., Yokoyama S; Faculty of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan., Yamashita T; Faculty of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan., Kawamura H; Faculty of Information Science and Technology, Hokkaido University, Kita 14, Nishi 9, Kita-ku, Sapporo 060-0814, Japan., Mori M; SUNCREER Co., Ltd., Sapporo 060-0012, Japan. |
| Quelle: | Sensors (Basel, Switzerland) [Sensors (Basel)] 2024 Oct 06; Vol. 24 (19). Date of Electronic Publication: 2024 Oct 06. |
| Publikationsart: | Journal Article |
| Sprache: | English |
| Info zur Zeitschrift: | Publisher: MDPI Country of Publication: Switzerland NLM ID: 101204366 Publication Model: Electronic Cited Medium: Internet ISSN: 1424-8220 (Electronic) Linking ISSN: 14248220 NLM ISO Abbreviation: Sensors (Basel) Subsets: MEDLINE |
| Imprint Name(s): | Original Publication: Basel, Switzerland : MDPI, c2000- |
| MeSH-Schlagworte: | Robotics*/methods , Algorithms* , Walkers* , Forearm*/physiology , Walking*/physiology, Humans ; Male ; Biomechanical Phenomena/physiology ; Female ; Adult ; Weight-Bearing/physiology |
| Abstract: | With the progression of an aging society, the importance of walking assistance technology has been increasing. The research and development of robotic walkers for individuals requiring walking support are advancing. However, there was a problem that the conventional constant support amount did not satisfy the propulsion force required for the walking speed that users wanted. In this study, in order to solve this problem, we propose an algorithm for determining the support amount to maintain the walking speed when the average walking speed of each user is set as the target speed. A robotic walker was developed by attaching BLDC motors to an actual walker, along with a control algorithm for assistance based on sampling-type PID control. The effectiveness of the assistance determination algorithm and the usefulness of the parameters were demonstrated through experiments using weights loaded on the forearm support and target speeds. Subsequently, subject experiments were conducted to verify the ability to maintain target speeds, and a questionnaire survey confirmed that the assistance did not interfere with actual walking. The proposed algorithm for determining the assistance levels demonstrated the ability to maintain target speeds and allowed for adjustments in the necessary level of assistance. |
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| Grant Information: | JPMJSP2119 JST SPRING |
| Contributed Indexing: | Keywords: assistive robotics; incremental PID; mobility aids; robotic walker; smart walker; walking assistance |
| Entry Date(s): | Date Created: 20241016 Date Completed: 20241016 Latest Revision: 20241019 |
| Update Code: | 20250114 |
| PubMed Central ID: | PMC11479321 |
| DOI: | 10.3390/s24196456 |
| PMID: | 39409496 |
| Datenbank: | MEDLINE |
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Nájsť tento článok vo Web of Science | Abstract: | With the progression of an aging society, the importance of walking assistance technology has been increasing. The research and development of robotic walkers for individuals requiring walking support are advancing. However, there was a problem that the conventional constant support amount did not satisfy the propulsion force required for the walking speed that users wanted. In this study, in order to solve this problem, we propose an algorithm for determining the support amount to maintain the walking speed when the average walking speed of each user is set as the target speed. A robotic walker was developed by attaching BLDC motors to an actual walker, along with a control algorithm for assistance based on sampling-type PID control. The effectiveness of the assistance determination algorithm and the usefulness of the parameters were demonstrated through experiments using weights loaded on the forearm support and target speeds. Subsequently, subject experiments were conducted to verify the ability to maintain target speeds, and a questionnaire survey confirmed that the assistance did not interfere with actual walking. The proposed algorithm for determining the assistance levels demonstrated the ability to maintain target speeds and allowed for adjustments in the necessary level of assistance. |
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| ISSN: | 1424-8220 |
| DOI: | 10.3390/s24196456 |