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183
1.
Journal of Korea Robotics Society (2014) 9(3):183-189http://dx.doi.org/10.7746/jkros.2014.9.3.183 ISSN: 1975-6291 / eISSN: 2287-3961
1.
.
. ,
,
,
[1].
[2], , ,
.
[3][4],
(Foot Drop)
(Ankle Foot
Orthosis, AFO)[5], [6]
.
,
.
(Partial Weight-Bearing, PWB)
[7].
(Crutch) ( 19.4% )
( 10.5%)
(
9.1% ) [8],
() ,
(Lofstrand)
[9]. ,
Received : Jul. 18. 2014; Reviewed : Jul. 30. 2014; Accepted : Aug. 13. 2014
(NRF-2012M3A6A3057080), (NRF-2013R1A1A2010192), BK21 ( ICT ) .
1 Electornic Systems Engineering, Hanyang University, Hanyangdaehak-ro55, Sangnok-gu, Ansan, 426-791, S.Korea (dcyoon@hanyang.ac.kr)
2 Electronic, Electrical, Control and Instrument Engineering, HanyangUniversity (jgh@hanyang.ac.kr)
Corresponding author: Electornic Systems Engineering, HanyangUniversity, Hanyangdaehak-ro 55, Sangnok-gu, Ansan, 426-791, S.(cyj@hanyang.ac.kr)
Wearable and Motorized Crutch Control System
1, 2,
Dukchan Yoon1, Giho Jang2, Youngjin Choi
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
184 9 3(2014. 9)
[10].
(
Artery)
,
,
.
,
.
2
2.
(Stance Phase)
(Brachial Plexus
(Flexion)
.
.
[12]
2
. 3.1
. 3.2
.
.
) (Swi
s Injuries)
[11],
)
].
(Motoriz
,
,
1 2
.
ing Phase)
(Armpi
1
.
zed Crutch)
,
. 4
5
.
it
.
[13].
(E
.
(Te
(Termin
(Initial Conta
Extension)
.
(Planta
(Mid Sta
.
erminal Stance)
nal Swing)
[
Fig. 1.
Fig. 2. Actions o
act)
(Loading
ar Flexion)
-(Pr
ance)
.
13]. 2
Eight steps of ga
of three functiona
. 1
(Flexion)
Response)
(Forefoot)
.
re-Swing)
(Mid Swi
.
,
.
ait[13]
al rockers[13]
.
ing)
185
Fig.
(Rocker)
,
.
.
.
Phase)
(Stopper)
3.1
3. Gait steps wit
,
.
.
3.
.
,
th the motorized
,
-
.
,
crutch
.
(Rolling
3
.
.
g
(Roller)
.
(Swin
.
F
4
(Thig
(Timing Pull
) .
(Pusher)
,
5
ng)
,
!
Fig. 4. Kinematic m
.
(Driver),
gh Holder)
.
ley and Belt)
.
.
.
.
!!
.
model of the mot
.
(Support Fix
.
.
.
.
.
,
torized crutch
xture),
!
186 9 3(2014. 9)
Fig. 5. Operation of the motorized crutch according to the gait
3.2
.
~[uV]
.
[14].
,
. 6
(Muscles of Anterior Thigh)
(Sartorius)
[15].
Ag/AgCl .
, 5[Hz] (Cutoff
Frequency) (High Pass Filter, HPF)
DC ,
(Envelope) 300 RMS
(Root Mean Squares) . 7
Fig. 6. Sartorius muscle for acquisition of walking intention
[13]
Fig. 7. HPF application of raw EMG
Fig. 8. RMS application of HP Filtered EMG
8 HPF RMS
,
.
3.3
9
(Force Sensing Resistor, FSR)
. 10
.
1
.
,
. Rolling
, Stop , None
.
.
,
Fig 9. Design of stopper
0 1 2 3 4 5-200
-100
0
100
200
Time [s]
Am
plitu
de [
mV
]
0 2 4 6 8 100
20
40
60
Time [s]
Am
plitu
de [
mV
]
187
Fig. 10
Table. 1. Gait st
EMG (Rear) FSR ( Front) FSR Status
11
3D
,
,
. 12
.
0. Gait logic diag
tatus (Logic Event
Ro0 0 1
None
.
4.
f-h
D
.
2.e
13.C
.
,
ram using EMG a
t) using EMG and
olling Phase 1 0 X
Rolling
.
.
.
30
.
,
A, B, C
13.B
12.a
.
13.A
13.D
and FSR
d FSR
Stance PhaseX 1 X
Stop
.
12
a-e
. 13
.
12.b~d
3
d
Fig. 1
12.f
.
.
.
11. Appearance o
Fig. 12. Snapsh
f~h
,
.
.
,
,
of the developed
hots during the e
5.
.
motorized crutch
experiment
,
.
h
188 9 3(2014. 9)
.
.
.
(Polylactic acid: PLA)
.
(Gear Ratio) .
. ,
(Worm Gear)
.
.
[1] 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.
[2] 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.
[3] 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.
[4] 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.
[5] K. E. Gordon, G. S. Sawicki, and D. P. Ferris, Mechanical performance of artificial pneumatic muscles to power an anklefoot orthosis, Journal of Biomechanics, vol. 39, no. 10, pp. 1832-1841, 2006.
[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.
[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.
[8] S. J. Kwon, Assistive devices for the disabled in Korea:
Fig. 13. Signals during the experiment, where A: EMG, B: (Rear) FSR, C: (Front) FSR, and D: Motor control
0 2 4 6 8 10 12 14 16 18-1
-0.5
0
Am
plitu
de [
mV
]A. EMG
HPF application of raw EMG
RMS application of HPF
0 2 4 6 8 10 12 14 16 180
0.51
Con
trol
Val
ue
B. (Rear) FSR
0 2 4 6 8 10 12 14 16 180
0.51
Con
trol
Val
ue
C. (Front) FSR
0 2 4 6 8 10 12 14 16 1805
10x 10
4
Time [s]
Con
trol
Val
ue
D. Motor
Stance Phase Rolling Phase Stance Phase Rolling Phase
References
References
189
current statues and policy implications, Health-welfare Policy Forum, vol. 4, pp. 42-54, 2006.
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[11] 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.
[12] 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.
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