NDLI: Functional task based assistance during walking for a Lower Extremity Assistive Device

Content Provider	IEEE Xplore Digital Library
Author	Bingquan Shen Jinfu Li Chee-Meng Chew
Copyright Year	2014
Description	Author affiliation: Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore, Singapore (Bingquan Shen; Jinfu Li; Chee-Meng Chew)
Abstract	In this paper, we propose a functional task based assistance controller to aid user in the walking task with our Lower Extremity Assistive Device (LEAD). Firstly, a gait period detector, which utilizes a Gaussian Mixture Model (GMM), is developed to estimate the user's current gait period among the six major periods. Then, an impedance based controller is used to apply assistive torques to the hip and knee joints of the user based on the functional task intended at the current gait period. To validate the above control scheme, preliminary experiments have been performed with one healthy subject walking on a treadmill. The results show that the gait period detector can effectively detect each gait period for the whole cycle. Based on measurements of the heart rate, the proposed assistance method has shown that it can effectively assist a human user in walking at speed of 1 km/h.
Starting Page	246
Ending Page	251
File Size	570115
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6906617
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Torque Joints Heart rate Hip Knee Detectors
Content Type	Text
Resource Type	Article

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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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