-
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
([email protected])
2 Electronic, Electrical, Control and Instrument Engineering,
HanyangUniversity ([email protected])
Corresponding author: Electornic Systems Engineering,
HanyangUniversity, Hanyangdaehak-ro 55, Sangnok-gu, Ansan, 426-791,
S.([email protected])
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)
.
.
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variation in the lower extremity, The Korean Society of
Mechanical Engineers, vol. 1, no. 1, pp. 251-267, 2000.
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[5] K. E. Gordon, G. S. Sawicki, and D. P. Ferris, Mechanical
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[6] S. H. Lee, S. Y. Shin, J. W. Lee, C. H. Kim, Design of an 1
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[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
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