Design of a wearable sensing system for a lower extremity exoskeleton

Assistive type lower extremity exoskeletons (ASLEE) which serve the lower limb disabilities always operate under a customized gait to achieve the dream of walking again. However, the customized gait is rigid that cannot provide stable motion for variation of terrain features. For the purpose of realizing intelligent control for an ASLEE named AIDER, a novel wearable sensing system which can realize posture and ground reaction force detection is proposed. The wearable sensing system employs 7 force sensors as a sensing matrix to achieve high accuracy of ground reaction force detection. One more IMU sensor is integrated into the wearable sensing system to realize 6-DOF posture capture.

[1]  Aaron M. Dollar,et al.  Design of a quasi-passive knee exoskeleton to assist running , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[2]  Masayoshi Tomizuka,et al.  Design of a mobile gait monitoring system , 2010, 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[3]  Pierre Asselin,et al.  Heart rate and oxygen demand of powered exoskeleton-assisted walking in persons with paraplegia. , 2015, Journal of rehabilitation research and development.

[4]  D. De Clercq,et al.  The trajectory of the centre of pressure during barefoot running as a potential measure for foot function. , 2008, Gait & posture.

[5]  D. De Clercq,et al.  Relationship between gait biomechanics and inversion sprains: a prospective study of risk factors. , 2005, Gait & posture.

[6]  Edwin van Asseldonk,et al.  Ambulatory Estimation of Center of Mass Displacement During Walking , 2009, IEEE Transactions on Biomedical Engineering.

[7]  Joseph A. Paradiso,et al.  Gait Analysis Using a Shoe-Integrated Wireless Sensor System , 2008, IEEE Transactions on Information Technology in Biomedicine.

[8]  Yu Zheng Chong,et al.  Design and development of inexpensive pneumatically-powered assisted knee-ankle-foot orthosis for gait rehabilitation-preliminary finding , 2012, 2012 International Conference on Biomedical Engineering (ICoBE).

[9]  Yasuhisa Hasegawa,et al.  First report on passive exoskeleton for easy running: PEXER IV , 2013, MHS2013.

[10]  Toshiki Kobayashi,et al.  Kinetic Gait Analysis Using a Low-Cost Insole , 2013, IEEE Transactions on Biomedical Engineering.

[11]  M. Goldfarb,et al.  Preliminary Evaluation of a Powered Lower Limb Orthosis to Aid Walking in Paraplegic Individuals , 2011, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[13]  Mark E. Dohring,et al.  Automatic Synchronization of Functional Electrical Stimulation and Robotic Assisted Treadmill Training , 2008, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[14]  Heinz W. Schmidt.  HapticWalker-A novel haptic device for walking simulation , 2004 .

[15]  P. Veltink,et al.  Ambulatory measurement of ground reaction forces , 2005 .

[16]  Mukul Talaty,et al.  Differentiating ability in users of the ReWalkTM powered exoskeleton: An analysis of walking kinematics , 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).

[17]  H. Kazerooni,et al.  Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX) , 2006, IEEE/ASME Transactions on Mechatronics.

[18]  Hong Cheng,et al.  Interactive learning for sensitivity factors of a human-powered augmentation lower exoskeleton , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[19]  Ambarish Goswami,et al.  Postural Stability of Biped Robots and the Foot-Rotation Indicator (FRI) Point , 1999, Int. J. Robotics Res..

[20]  Masayoshi Tomizuka,et al.  Smooth and continuous human gait phase detection based on foot pressure patterns , 2008, 2008 IEEE International Conference on Robotics and Automation.

[21]  Hong Cheng,et al.  Minimizing Human-Exoskeleton Interaction Force Using Compensation for Dynamic Uncertainty Error with Adaptive RBF Network , 2016, J. Intell. Robotic Syst..

[22]  Homayoon Kazerooni,et al.  System identification for the Berkeley lower extremity exoskeleton (BLEEX) , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[23]  Adam Zoss,et al.  On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[24]  Tao Liu,et al.  The Lower Limbs Kinematics Analysis by Wearable Sensor Shoes , 2016, IEEE Sensors Journal.

[25]  Tao Liu,et al.  Three-dimensional lower limb kinematic and kinetic analysis based on a wireless sensor system , 2011, 2011 IEEE International Conference on Robotics and Automation.

[26]  S J Dixon,et al.  Footscan pressure insoles: accuracy and reliability of force and pressure measurements in running. , 2010, Gait & posture.

[27]  Yoshiyuki Sankai,et al.  Strength testing machines for wearable walking assistant robots based on risk assessment of Robot Suit HAL , 2012, 2012 IEEE International Conference on Robotics and Automation.

[28]  Michael Goldfarb,et al.  An assistive controller for a lower-limb exoskeleton for rehabilitation after stroke, and preliminary assessment thereof , 2014, 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[29]  Jian Huang,et al.  Fall detection for elderly by using an intelligent cane robot based on center of pressure (COP) stability theory , 2014, 2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS).