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Treadmill motor current based anteroposterior force estimation using ground reaction force approximation depending on

Yasutaka Nakashima1, Takeshi Ando, Yo Kobayashi

  • 1Graduate School of Advanced Science and Engineering, Waseda University, Tokyo 169-8555, Japan. w-yasutaka-22@ruri.waseda.jp

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
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Summary

Researchers improved the Tread-Walk 2 (TW-2) walking support vehicle by accurately estimating user forces. A new method using trapezoidal wave approximations enhances control for smoother walking assistance.

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Area of Science:

  • Robotics
  • Biomechanics
  • Assistive Technology

Background:

  • The Tread-Walk 2 (TW-2) vehicle aims to support elderly walking using natural movement.
  • Previous TW-2 control lacked intuitive operability due to inaccurate anteroposterior force estimation without force sensors.
  • Discomfort during walking initiation and cessation stemmed from imprecise force estimation at heel contact and toe-off.

Purpose of the Study:

  • To develop an accurate method for estimating user's anteroposterior force for improved TW-2 control.
  • To enhance the intuitive operability and reduce discomfort associated with the TW-2 walking support vehicle.

Main Methods:

  • Proposed a novel method to approximate vertical ground reaction forces as isosceles trapezoidal waves.
  • Adjusted the slope of the trapezoidal waves based on walking velocity changes.
  • Validated the method by comparing estimated anteroposterior forces with force plate measurements in young adults.

Main Results:

  • The new approximation method accurately estimated anteroposterior forces.
  • Estimated force waveforms closely matched measured force plate data.
  • The method demonstrated potential for improving TW-2's control algorithm.

Conclusions:

  • The proposed trapezoidal wave approximation method enables accurate anteroposterior force estimation.
  • This advancement can lead to a more intuitive and comfortable user experience with the TW-2 walking support system.
  • Accurate force estimation is crucial for effective control of assistive walking devices.