Development of a new mobility system "tread-walk" - Design of a control algorithm for slope movement -

Misato Nihei; Yuzo Kaneshige; Masakatsu G. Fujie; Takenobu Inoue

doi:10.1109/ROBIO.2006.340366

Development of a new mobility system "tread-walk" - Design of a control algorithm for slope movement -

Misato Nihei^*, Yuzo Kaneshige, Masakatsu G. Fujie, Takenobu Inoue

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

In Japan, slopes hinder some older persons from moving around freely, particularly in rural areas. Even persons who are able to walk on flat ground might lose their breath or fall when moving up or down a slope. The present authors have developed a new mobility aid, called "Tread-Walk," that makes use of human gait movement for traveling over flat ground. In this paper, the Tread-Walk system is adapted to walk up and down slopes. Slope walking experiments are conducted to obtain the current load of the treadmill motor, which is measured as the kicking/braking force. The relationship between the pitch angle of the vehicle and floor reaction force is defined based on the obtained load current data. An algorithm that uses the pitch angle as a feedback element is then developed. The walking position does not change greatly on the slope, and steady walking was achieved. Furthermore, the system enables the user to walk smoothly up/down a slope ±7(deg) in an outdoor without stopping.

Original language	English
Title of host publication	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
Pages	1006-1011
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2006.340366
Publication status	Published - 2006
Event	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming Duration: 2006 Dec 17 → 2006 Dec 20

Other

Other	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
City	Kunming
Period	06/12/17 → 06/12/20

Keywords

Gait cycle
Mobility aid
Sloped road

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBIO.2006.340366

Cite this

Nihei, M, Kaneshige, Y, Fujie, MG & Inoue, T 2006, Development of a new mobility system "tread-walk" - Design of a control algorithm for slope movement -. in 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006., 4142003, pp. 1006-1011, 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, 06/12/17. https://doi.org/10.1109/ROBIO.2006.340366

@inproceedings{4f9569c959fc467bba48c192966cad43,

title = "Development of a new mobility system {"}tread-walk{"} - Design of a control algorithm for slope movement -",

abstract = "In Japan, slopes hinder some older persons from moving around freely, particularly in rural areas. Even persons who are able to walk on flat ground might lose their breath or fall when moving up or down a slope. The present authors have developed a new mobility aid, called {"}Tread-Walk,{"} that makes use of human gait movement for traveling over flat ground. In this paper, the Tread-Walk system is adapted to walk up and down slopes. Slope walking experiments are conducted to obtain the current load of the treadmill motor, which is measured as the kicking/braking force. The relationship between the pitch angle of the vehicle and floor reaction force is defined based on the obtained load current data. An algorithm that uses the pitch angle as a feedback element is then developed. The walking position does not change greatly on the slope, and steady walking was achieved. Furthermore, the system enables the user to walk smoothly up/down a slope ±7(deg) in an outdoor without stopping.",

keywords = "Gait cycle, Mobility aid, Sloped road",

author = "Misato Nihei and Yuzo Kaneshige and Fujie, {Masakatsu G.} and Takenobu Inoue",

year = "2006",

doi = "10.1109/ROBIO.2006.340366",

language = "English",

isbn = "1424405718",

pages = "1006--1011",

booktitle = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006",

note = "2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 ; Conference date: 17-12-2006 Through 20-12-2006",

}

TY - GEN

T1 - Development of a new mobility system "tread-walk" - Design of a control algorithm for slope movement -

AU - Nihei, Misato

AU - Kaneshige, Yuzo

AU - Fujie, Masakatsu G.

AU - Inoue, Takenobu

PY - 2006

Y1 - 2006

N2 - In Japan, slopes hinder some older persons from moving around freely, particularly in rural areas. Even persons who are able to walk on flat ground might lose their breath or fall when moving up or down a slope. The present authors have developed a new mobility aid, called "Tread-Walk," that makes use of human gait movement for traveling over flat ground. In this paper, the Tread-Walk system is adapted to walk up and down slopes. Slope walking experiments are conducted to obtain the current load of the treadmill motor, which is measured as the kicking/braking force. The relationship between the pitch angle of the vehicle and floor reaction force is defined based on the obtained load current data. An algorithm that uses the pitch angle as a feedback element is then developed. The walking position does not change greatly on the slope, and steady walking was achieved. Furthermore, the system enables the user to walk smoothly up/down a slope ±7(deg) in an outdoor without stopping.

AB - In Japan, slopes hinder some older persons from moving around freely, particularly in rural areas. Even persons who are able to walk on flat ground might lose their breath or fall when moving up or down a slope. The present authors have developed a new mobility aid, called "Tread-Walk," that makes use of human gait movement for traveling over flat ground. In this paper, the Tread-Walk system is adapted to walk up and down slopes. Slope walking experiments are conducted to obtain the current load of the treadmill motor, which is measured as the kicking/braking force. The relationship between the pitch angle of the vehicle and floor reaction force is defined based on the obtained load current data. An algorithm that uses the pitch angle as a feedback element is then developed. The walking position does not change greatly on the slope, and steady walking was achieved. Furthermore, the system enables the user to walk smoothly up/down a slope ±7(deg) in an outdoor without stopping.

KW - Gait cycle

KW - Mobility aid

KW - Sloped road

UR - http://www.scopus.com/inward/record.url?scp=46249083841&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=46249083841&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2006.340366

DO - 10.1109/ROBIO.2006.340366

M3 - Conference contribution

AN - SCOPUS:46249083841

SN - 1424405718

SN - 9781424405718

SP - 1006

EP - 1011

BT - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

T2 - 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006

Y2 - 17 December 2006 through 20 December 2006

ER -

Development of a new mobility system "tread-walk" - Design of a control algorithm for slope movement -

Abstract

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this