A novel mobile bodyweight-supported gait-training platform with systems for omnidirectional tracking and floor-reaction-force control

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  • Mizushiri Yuki
    Department of Mechanical Engineering, Toyohashi University of Technology
  • Suzuki Yuichi
    Department of Rehabilitation, Matsuyama Rehabilitation Hospital
  • Tasaki Ryosuke
    Department of Mechanical Engineering, Toyohashi University of Technology
  • Miyoshi Takanori
    Department of Mechanical Engineering, Toyohashi University of Technology
  • Kitagawa Hideo
    Department of Electronic Control Engineering, Gifu National College of Technology
  • Terashima Kazuhiko
    Department of Mechanical Engineering, Toyohashi University of Technology

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Other Title
  • 全方向歩行追従および床反力の制御に着目した新型移動式免荷歩行訓練器の提案と解析
  • ゼン ホウコウ ホコウ ツイジュウ オヨビ ユカ ハンリョク ノ セイギョ ニ チャクモク シタ シンガタ イドウシキメンカ ホコウ クンレンキ ノ テイアン ト カイセキ

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Abstract

<p>The number of elderly people with gait disorders is increasing owing to population aging. Early rehabilitation is important for preventing such people from becoming bedridden and for facilitating the recovery of walking capability. BWSTT（BodyWeight-Supported Treadmill Training）is a valid early gait-training method. Noting the effectiveness of BWSTT, we have developed a novel gait-training platform called NILTWAMOR（ Novel Intelligent Lift-Type Walking-Assist Mobile Robot ）. NILTWAMOR has an omnidirectional driving system using omniwheels and a bodyweight-supported system using two wires that can each independently hoist a harness. This paper proposes two systems to assist effective gait training. Firstly, an omnidirectional moving control system following human intention is proposed. This system estimates the user‘s walking direction by identifying the user‘s body center and controls the platform in order to track the user omnidirectionally. Secondly, a system that maintains a constant floor reaction force is proposed. This system estimates deviation of the user‘'s body center based on the user‘'s posture and maintains constant floor reaction force of the gait trainer'‘s supporting legs and the body center. In order to evaluate the effectiveness of the proposed gait-training platform, both systems were applied to healthy subject and patient undergoing gait rehabilitation.</p>

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