CopyrightKROS

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)

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act)

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ance)

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of three functiona

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ait[13]

al rockers[13]

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ing)

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Fig.

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ley and Belt)

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.

model of the mot

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.

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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)

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.

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, 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

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Fig. 12. Snapsh

f~h

,

.

.

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,

of the developed

hots during the e

5.

.

motorized crutch

experiment

,

.

h

188 9 3(2014. 9)

.

.

.

(Polylactic acid: PLA)

.

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. ,

(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.

[9] G. S. Sim, and D. H. Song, Trends on the patent map of crutch technology, Journal of Korea Intellectual Patent Society, vol. 7, no. 2, pp. 17-21, 2005.

[10] T. J. Park, O. C. Jeong, and S. H. Yang, Study on lower limb moment during axillary crutch gait according to changes in crutch length, The Korea Journal of Sports Science, vol. 22, no. 1, pp.1123-1132, 2013.

[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.

[13] J. Perry, Gait analysis: normal and pathology function, New Jersey, SLACK, 1992.

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