Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot

We propose an effective timing of intermittent force application by a gait assistance robot with a wire-driven system to increase the toe trajectory throughout the swing phase. We tested different timings of force application at the shank, employing the short-term assistance of the robot to increase...

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Autores principales:	Tamon MIYAKE, Yo KOBAYASHI, Masakatsu G FUJIE, Shigeki SUGANO
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2018
Materias:	gait assistance wire-driven system intermittent force control toe trajectory motion analysis Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/a42777c36f8f4eb5bea95113c52e6b6c
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id	oai:doaj.org-article:a42777c36f8f4eb5bea95113c52e6b6c
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spelling	oai:doaj.org-article:a42777c36f8f4eb5bea95113c52e6b6c2021-11-26T07:21:53ZEffect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot2187-974510.1299/mej.17-00660https://doaj.org/article/a42777c36f8f4eb5bea95113c52e6b6c2018-07-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/5/4/5_17-00660/_pdf/-char/enhttps://doaj.org/toc/2187-9745We propose an effective timing of intermittent force application by a gait assistance robot with a wire-driven system to increase the toe trajectory throughout the swing phase. We tested different timings of force application at the shank, employing the short-term assistance of the robot to increase toe clearance throughout the swing phase. The force was applied to the shank to generate knee flexion torque because the shank motion generated by the knee flexion motion makes the largest contribution to toe clearance. Four timings of the force application were considered: when starting knee flexion before toe-off, when lifting the foot, while maintaining knee flexion after toe-off, and when finishing knee flexion after toe-off. Furthermore, we evaluated changes in the toe trajectory and articular angles of the lower limb for each timing condition. We used a timing detection method for the robot conducting tensile force control based on information from the hip, knee, and ankle angles. For all participants, an increase in the knee flexion angle in the early swing phase due to the force application increased the toe clearance throughout the swing phase. We thus conclude that force application when the user begins lifting their toe is effective in increasing toe clearance throughout the swing phase.Tamon MIYAKEYo KOBAYASHIMasakatsu G FUJIEShigeki SUGANOThe Japan Society of Mechanical Engineersarticlegait assistancewire-driven systemintermittent force controltoe trajectorymotion analysisMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 5, Iss 4, Pp 17-00660-17-00660 (2018)
institution	DOAJ
collection	DOAJ
language	EN
topic	gait assistance wire-driven system intermittent force control toe trajectory motion analysis Mechanical engineering and machinery TJ1-1570
spellingShingle	gait assistance wire-driven system intermittent force control toe trajectory motion analysis Mechanical engineering and machinery TJ1-1570 Tamon MIYAKE Yo KOBAYASHI Masakatsu G FUJIE Shigeki SUGANO Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot
description	We propose an effective timing of intermittent force application by a gait assistance robot with a wire-driven system to increase the toe trajectory throughout the swing phase. We tested different timings of force application at the shank, employing the short-term assistance of the robot to increase toe clearance throughout the swing phase. The force was applied to the shank to generate knee flexion torque because the shank motion generated by the knee flexion motion makes the largest contribution to toe clearance. Four timings of the force application were considered: when starting knee flexion before toe-off, when lifting the foot, while maintaining knee flexion after toe-off, and when finishing knee flexion after toe-off. Furthermore, we evaluated changes in the toe trajectory and articular angles of the lower limb for each timing condition. We used a timing detection method for the robot conducting tensile force control based on information from the hip, knee, and ankle angles. For all participants, an increase in the knee flexion angle in the early swing phase due to the force application increased the toe clearance throughout the swing phase. We thus conclude that force application when the user begins lifting their toe is effective in increasing toe clearance throughout the swing phase.
format	article
author	Tamon MIYAKE Yo KOBAYASHI Masakatsu G FUJIE Shigeki SUGANO
author_facet	Tamon MIYAKE Yo KOBAYASHI Masakatsu G FUJIE Shigeki SUGANO
author_sort	Tamon MIYAKE
title	Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot
title_short	Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot
title_full	Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot
title_fullStr	Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot
title_full_unstemmed	Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot
title_sort	effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot
publisher	The Japan Society of Mechanical Engineers
publishDate	2018
url	https://doaj.org/article/a42777c36f8f4eb5bea95113c52e6b6c
work_keys_str_mv	AT tamonmiyake effectofthetimingofforceapplicationonthetoetrajectoryintheswingphaseforawiredrivengaitassistancerobot AT yokobayashi effectofthetimingofforceapplicationonthetoetrajectoryintheswingphaseforawiredrivengaitassistancerobot AT masakatsugfujie effectofthetimingofforceapplicationonthetoetrajectoryintheswingphaseforawiredrivengaitassistancerobot AT shigekisugano effectofthetimingofforceapplicationonthetoetrajectoryintheswingphaseforawiredrivengaitassistancerobot
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Effect of the timing of force application on the toe trajectory in the swing phase for a wire-driven gait assistance robot

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