NDLI: Treadmill motor current based anteroposterior force estimation using ground reaction force approximation depending on gait cycle

Content Provider	IEEE Xplore Digital Library
Author	Nakashima, Y. Ando, T. Kobayashi, Y. Fujie, M.G.
Copyright Year	2011
Description	Author affiliation: Graduate School of Advanced Science and Engineering, Waseda University, Tokyo 169-8555, Japan (Nakashima, Y.) \|\| Faculty of Science and Engineering, Waseda University, Tokyo, Japan (Kobayashi, Y.; Fujie, M.G.) \|\| Dept. of Robotics & Design for Innovative Healthcare (Panasonic), Graduate School of Medicine, Osaka University, Osaka, Japan (Ando, T.)
Abstract	We have been developing a new vehicle, “Tread-Walk 2 (TW-2)”, which supports walking for the elderly. TW-2 is controlled by the natural walking movement. In our previous work, we tried to estimate the user's anteroposterior force from the motor current value without a force sensor in order to possible to have a more intuitive operability of TW-2. But, a user of this vehicle experienced some discomfort both when he started walking and when he stopped walking. This problem is caused by inaccurate estimation of the user's anteroposterior force at the heel contact and the toe off. The estimation of the user's anteroposterior force is greatly related to inaccurate estimation of the vertical component of the ground reaction force, which is approximated by the square waveform in the stance phase. In order to construct a control algorithm to improve the operability of TW-2, we accurately estimated the user's anteroposterior force. We therefore proposed the new method to approximate the vertical force in order to estimate the user's anteroposterior force accurately. This paper describes the new method to approximate the waveforms of the vertical forces as isosceles trapezoidal waves with a slope changed depending on the change of the walking velocity. By comparing the estimated anteroposterior force using the new method with the measured value using the force plate, for two young subjects whose physical characteristics were different, the waveform pattern of the estimated force was found to be similar to that of the measured force. This showed that the proposed method could possibly be useful for accurate estimation of anteroposterior force.
Starting Page	1583
Ending Page	1589
File Size	1230896
Page Count	7
File Format	PDF
ISBN	9781424441211
ISSN	1557170X
e-ISBN	9781457715891
e-ISBN	9781424441228
DOI	10.1109/IEMBS.2011.6090460
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Legged locomotion Belts DC motors Force measurement Approximation methods Estimation
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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