Walking Support System Research Articles

Safety and Feasibility Study of the Medical Care Pit Walking Support System for Rehabilitation of Acute Stroke Patients.

Stroke rehabilitation with mechanical assistance improves outcomes by facilitating repetition and relieving the care burden of therapy staff. Here, we tested the Medical Care Pit (MCP) walking assistance training device in the rehabilitation of eight acute stroke patients (median age 60.7 ± 16.3 years) who had recently suffered ischemic (three) or hemorrhagic (five) stroke (14.1 ± 6.5 days). Patients received standard rehabilitation approximately 5 days per week (weekdays only), plus MCP therapy twice a week, totaling four MCP sessions over 2 weeks. Fugl-Meyer Assessment-Lower Extremities (FMA-LE), Functional Ambulation Category (FAC), and other gait-associated parameters were measured. Over the 10.5 ± 1.6 days of therapy, MCP qualitatively assisted in gait analysis and real-time patient feedback while independent walking scores significantly improved (FAC 2.2 ± 0.8 to 3.1 ± 1.3, p = 0.020). FMA-LE scores also slightly improved but not to significance (p = 0.106). Objective burden on patients, as measured by modified Borg scale, was significantly improved (2.7 ± 1.6 to 2.0 ± 1.6, p = 0.014). In terms of questionnaires, anxiety scores for the physical therapist regarding gait training and falling with MCP significantly decreased (3.8 ± 2.3 to 1.0 ± 1.6; p = 0.027 and 3.1 ± 2.2 to 0.8 ± 1.3; p = 0.045) from the first to fourth sessions. Taken together, MCP, in addition to the usual rehabilitation program, was effective in gait rehabilitation for independent walking and relieved burdens on the patients. Such walking support systems may be an important part of acute stroke rehabilitation.

Walking support system considering the surrounding environment

Walking support system considering the surrounding environment

Simulation-Based Clarification of Appropriate Factors for Presenting Phosphene in Two Directions Avoiding Electrical Interference.

Walking support systems are essential for blind people. In this study, the presentation of phosphene position is focused on as a method to detect obstacles for blind people. When the phosphene is used in a walking support system, it is necessary to accurately present the phosphene in at least three directions of the visual field. Controlling the presentation of phosphene position has been reported in several previous studies. However, methodologies to present phosphene in multiple directions without any electric interference have not as yet been investigated. In this study, therefore, appropriate stimulation factors are clarified by the simulation of electric field on the eyeball surface which is strongly related to the presentation of phosphene position in the visual field. As a result of the simulation, it was revealed that the distance of each electrode does not give a significant effect to the eyeball surface. However, the phase of alternating current significantly changed the electric field on the eyeball surface. From investigation of the simulation results, it was clarified that the transition of the electric field on the eyeball surface can be controlled using anti-phase stimulation. In addition, the methodology to present the phosphene at least in two directions was verified.

Investigation of Electrical Interference towards Phosphene-Based Walking Support System

A walking support system with phosphenes for blind people has been investigated. Phosphene is a phenomenon where a flash of light is recognized in the brain by giving an electrical stimulus to human’s visual pathway. Phosphenes can be perceived even if their eyes are closed or they are blind. It has been clarified that phosphenes can be induced to several directions if electrodes placements are precisely selected. When phosphenes are presented to two directions for recognizing two obstacles, two pairs of electrodes must be applied. In such a case, however, the electrical interference occurs due to the short distance between electrodes. In the practical use of the phosphene-based walking support system, the avoidance of electrical interference is significant in order to present the phosphenes precisely. Therefore, in this paper, we first practically investigate the electrical interference by considering the difference in phosphene induction generated by a single pair of electrodes and by two pairs of electrodes. Then, the solutions to avoid the electrical interference are discussed.

Tactile Paving Detection by Dynamic Thresholding Based on HSV Space Analysis for Developing a Walking Support System

In this research, we present a system that enables independent walking in individuals with visual impairment by recognizing tactile paving. The system warns the user about dangers posed by deviations from the walking path or possible collisions. Therefore, the tactile paving itself and obstacles on it must be detected. This paper discusses problems related to detecting tactile paving. To address these problems, a new camera-based method is introduced, which detects tactile paving automatically. The method relies on a dynamic threshold approach in the HSV color space, making the image processing more robust against varying lighting conditions, environments, and differences in color. Such an approach is not possible using the methods based on fixed thresholds reported in the literature. The results of our experiments confirm that high rates of tactile paving detection were achieved under various conditions.

Development of walking support systems to counter dementia and the importance of footcare

Development of walking support systems to counter dementia and the importance of footcare

Multifunction walking roof support for underground mining of stratified deposits and placers

The article shows the urgency of technological advance in coal mining in difficult geological conditions and describes the application prospects for an integrated multi-function platform in underground mining of different minerals. The international practice of mobile roof support design and creation of a work environment in mines is reviewed. The authors propose an integrated multi-function platform as a walking roof support module which ensures safe and efficient mining in difficult geological conditions. Within R&D project supported by the Foundation for Assistance to Small Innovative Enterprises in Science and Technology, Project No. 2566GS1/41340, the kinematics of the platform is developed so that to ensure uniform loading of the walking support systems owing to constructional linkage between the support units, and to provide stability of the support system on a composite topography floor thanks to four couples of hinge supports with adjustability of height and position. Arrangement of structural elements is proposed, and their kinematic linkage is described. The walking support advance algorithm is developed in the form of a working cycle. Within R&D project supported by the Russian Foundation for Basic Research, Project No. 18-37-00356, the control operation algorithm and control automation circuit are developed for the walking roof support. The automated control is integrable in the standard electrohydraulic control system of mine roof supports. As a result, the walking roof support with the automated control can be considered as a framework (a platform solution) for the robotic system engineering for safe and efficient underground mining of stratified deposits and diamond placers. The study was supported by the Russian Foundation for Basic Research, Project No. 19-35-90075-19.

Design and Fabrication of Walking Support System

Design and Fabrication of Walking Support System

Precise Foot Positioning of Walking Robot for Paraplegic Patient Wearing Exoskeleton by Using Electrical Stimulation Feedback

The research and development of powered exoskeletons is expected to support the walking of paraplegic patients. At the current stage, exoskeletons do not allow patients to voluntarily control their gait, nor do they provide sensory feedback to compensate for the loss of lower-body sensation. This paper proposes a wearable walking control interface to achieve voluntary gait control, and an electrical stimulation method to inform the patients about their foot position for voluntary gait control. In this study, a walking robot that simulated a paraplegic patient wearing an exoskeleton was used to investigate the performance of the proposed interface and stimulation method. We confirmed that, by using the interface, the subjects were able to control the robot gait for a distance of 3 m. Moreover, the accuracy of the electrical stimulation feedback was confirmed to approximate the visual feedback achieved through the human eyes. The experimental results revealed that the proposed interface and electrical stimulation feedback could be applied to a walking support system for patients with complete paraplegia.

Optimum distance for voice navigation in walking support system for visually impaired

Voice navigation with information and communication technologies allows the visually impaired (VI) to grasp the current situation promptly. While instruction prior to the action e.g. turning a corner, seems to be effective, the optimum lead distance remains unclear. This paper verifies experimentally the optimum lead distance to support VI while walking. In the experiment, each subject (normal vision) walked while wearing an eye mask to simulate VI, holding a white cane, and received voice guidance. After each trial, the subject scored the lead distance in terms of acceptability. 28 young healthy males/females participated. Results showed the highest score was for 3 m while the lowest was for 5 m. Distance range with score over 3 (average) was 2 to 4 m. No clear significant difference was observed in terms of subject height. As walking speed was around 0.55 m/s, 1 m was deemed insufficient. 5 m or more seemed to be too long as subjects failed to predict accurately how far they had moved. This experiment verified that VI voice navigation turn instructions are effective if given more than 1m and less than 4 m before the turning point.

Visual Data Analysis Methods Using OpenCV Programs to Evaluate Walking and Falling with a Japanese Walking Support System

Visual Data Analysis Methods Using OpenCV Programs to Evaluate Walking and Falling with a Japanese Walking Support System

Added Force-Based Methods Using Load Cells to Evaluate Walking and Tumbling with a Japanese Walking Support System

Added Force-Based Methods Using Load Cells to Evaluate Walking and Tumbling with a Japanese Walking Support System

Image-based fall detection and classification of a user with a walking support system

The classification of visual human action is important in the development of systems that interact with humans. This study investigates an image-based classification of the human state while using a walking support system to improve the safety and dependability of these systems.We categorize the possible human behavior while utilizing a walker robot into eight states (i.e., sitting, standing, walking, and five falling types), and propose two different methods, namely, normal distribution and hidden Markov models (HMMs), to detect and recognize these states. The visual feature for the state classification is the centroid position of the upper body, which is extracted from the user’s depth images. The first method shows that the centroid position follows a normal distribution while walking, which can be adopted to detect any non-walking state. The second method implements HMMs to detect and recognize these states. We then measure and compare the performance of both methods. The classification results are employed to control the motion of a passive-type walker (called “RT Walker”) by activating its brakes in non-walking states. Thus, the system can be used for sit/stand support and fall prevention. The experiments are performed with four subjects, including an experienced physiotherapist. Results show that the algorithm can be adapted to the new user’s motion pattern within 40 s, with a fall detection rate of 96.25% and state classification rate of 81.0%. The proposed method can be implemented to other abnormality detection/classification applications that employ depth image-sensing devices.

受動歩行機による超高効率な水平面歩行の実現

The aim of this study is to develop a efficient walking robot and walking support system. In this paper, we experimentally demonstrate a level walking of passive walker by towing force of weight. Moreover, we demonstrate specific cost of transport of the level walking.

OS1206 患者の転倒防止・体重免荷可能なブレーキ制御式歩行支援システム : インピーダンス制御の効果計測

OS1206 患者の転倒防止・体重免荷可能なブレーキ制御式歩行支援システム : インピーダンス制御の効果計測

Motion control of wearable-type walking support system based on the spring-mass model

Many systems and control methods have been proposed as mobility supports for the physically disabled and elderly individuals. In this research, we focus on a wearable-type system that supports the elderly with their walking. Different from typical control methods of wearable-type walking support systems, we propose a simple control method based on the spring–mass model. As a walking aid that does not require additional motions, such as sit-to-stand, this simple system is beneficial for two reasons. First, it reduces the calculation cost of deriving the support joint torque of the user; second, the wearable device hardware can be simply constructed from low-power actuators and springs rather than high-power actuators. In stance phase support mode, our motion control method compensates for a part of the force applied to the upper body as a leg muscle support. During the swing phase, walking is supported by a trajectory-following method using the impedance control as well as the spring–mass model. The proposed methods are applied to a prototype of a wearable-type walking support system, and evaluated in a series of experiments on human subjects.

Development of the obstacle detection system combining orientation sensor of smartphone and distance sensor.

In the existing walking support system, the range of detection is limited, and it is very difficult to detect obstacles such as a step or a hollow. Therefore, we aim at the development of a new walking support system for a visually-impaired person detecting neighboring obstacles by making use of a smartphone which is a high-performance portable information terminal. In this study, we have developed a walking support system combining the orientation sensor of the smartphone and a small distance sensor at the first stage. When we investigated its precision in detecting an obstacle, it was found that the system could detect obstacles which disturbed the walking of a visually-impaired person such as a step and a wall. We will find an appropriate key to detection to improve the detection precision of the system and make further improvements in the system by trial experiments in the future.

3A1-F06 インテリジェント歩行支援システムの開発 : 実験的検討(安全・安心なRT構築を目指して)

3A1-F06 インテリジェント歩行支援システムの開発 : 実験的検討(安全・安心なRT構築を目指して)

20708 パッシブ制御式歩行支援システム : メカニカル安全装置を搭載したトレッドミルの開発

20708 パッシブ制御式歩行支援システム : メカニカル安全装置を搭載したトレッドミルの開発

HMM-based state classification of a user with a walking support system using visual PCA features

The improvement of safety and dependability in systems that physically interact with humans requires investigation with respect to the possible states of the user’s motion and an attempt to recognize these states. In this study, we propose a method for real-time visual state classification of a user with a walking support system. The visual features are extracted using principal component analysis and classification is performed by hidden Markov models, both for real-time fall detection (one-class classification) and real-time state recognition (multi-class classification). The algorithms are used in experiments with a passive-type walker robot called “RT Walker” equipped with servo brakes and a depth sensor (Microsoft Kinect). The experiments are performed with 10 subjects, including an experienced physiotherapist who can imitate the walking pattern of the elderly and people with disabilities. The results of the state classification can be used to improve fall-prevention control algorithms for walking support systems. The proposed method can also be used for other vision-based classification applications, which require real-time abnormality detection or state recognition.