TY - GEN
T1 - Estimation of ankle dorsiflexion torque during loading response phase for spring coefficient identification
AU - Hong, Jing Chen
AU - Fukushima, Yuta
AU - Suzuki, Shigeru
AU - Yasuda, Kazuhiro
AU - Ohashi, Hiroki
AU - Iwata, Hiroyasu
N1 - Funding Information:
The present study was supported by JSPS KAKENHI Grant number JP26289028 and Waseda University. The authors are also grateful for Mr. G. Tanaka, Mr. T. Morisaki, Mr. D. Hirai and all the test participants of our experiments.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - In the previous work, we developed a dorsiflexion support robotic technology (RT) to help with gait rehabilitation for hemiplegic patients. The RT actively supports dorsiflexion force during swing phase with an artificial muscle. Because of the insufficient support of heel rocker, we consider using a spring for assisting resistive dorsiflexion force during loading response phase. The spring can be changed easily on our developed RT, which contributes to advantage of choosing spring with suitable spring constant. Thus, the ultimate goal for us is to find a way to determine the appropriate spring constant for corresponding individual gait to support full heel rocker in loading response phase. Support amount of dorsiflexion torque is needed for determining the spring constant. Therefore, our aim in this paper is to find out the correlation between ankle torque and individual gait factors, such as walking speed and step length. After selecting these factors, we collected gait data for 9 healthy volunteers and derive the formula to estimate dorsiflexion torque using multiple linear regression analysis. An accuracy evaluation test was also done to prove the availability of derived estimation formula.
AB - In the previous work, we developed a dorsiflexion support robotic technology (RT) to help with gait rehabilitation for hemiplegic patients. The RT actively supports dorsiflexion force during swing phase with an artificial muscle. Because of the insufficient support of heel rocker, we consider using a spring for assisting resistive dorsiflexion force during loading response phase. The spring can be changed easily on our developed RT, which contributes to advantage of choosing spring with suitable spring constant. Thus, the ultimate goal for us is to find a way to determine the appropriate spring constant for corresponding individual gait to support full heel rocker in loading response phase. Support amount of dorsiflexion torque is needed for determining the spring constant. Therefore, our aim in this paper is to find out the correlation between ankle torque and individual gait factors, such as walking speed and step length. After selecting these factors, we collected gait data for 9 healthy volunteers and derive the formula to estimate dorsiflexion torque using multiple linear regression analysis. An accuracy evaluation test was also done to prove the availability of derived estimation formula.
KW - ankle-foot orthosis
KW - gait
KW - heel rocker
KW - hemiplegia
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U2 - 10.1109/ROBIO.2017.8324751
DO - 10.1109/ROBIO.2017.8324751
M3 - Conference contribution
AN - SCOPUS:85050037593
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 2237
EP - 2242
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -