Power-assisted walking support system with imbalance compensation control for hemiplegics

Author

Egawa, S. ; Nemoto, Y. ; Fujie, M.G. ; Koseki, A. ; Hattori, S. ; Isfii, T.

Author_Institution

Mech. Eng. Res. Lab., Hitachi Ltd., Tsuchiura, Japan

Volume

1

fYear

1999

fDate

1999

Abstract

Walking ability is essential for the elderly if they are to live a self-supported daily life. Conventional walkers have been used by people with weak lower limbs, but manipulating these walkers for desired direction is difficult for hemiplegic patients. This paper describes a power-assisted walking support system that allows these patients better control of their walk by compensating for the force input bias caused by their imbalanced gait. Experimental use by hemiplegics improved the stability and speed of their walk

Keywords

biocontrol; biomechanics; geriatrics; handicapped aids; elderly; force input bias compensation; hemiplegics; imbalance compensation control; imbalanced gait; power-assisted walking support system; self-supported daily life; walk speed; walk stability; Control systems; Force control; Force sensors; Legged locomotion; Mechanical engineering; Senior citizens; Stability; System testing; Turning; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

[Engineering in Medicine and Biology, 1999. 21st Annual Conference and the 1999 Annual Fall Meetring of the Biomedical Engineering Society] BMES/EMBS Conference, 1999. Proceedings of the First Joint

Conference_Location

Atlanta, GA

ISSN

1094-687X

Print_ISBN

0-7803-5674-8

Type

conf

DOI

10.1109/IEMBS.1999.802713

Filename

802713