Robotic Cane Controlled to Adapt Automatically to Its User Gait Characteristics

Area of Science:

• Robotics
• Biomechanics
• Assistive Technology

Background:

• Non-actuated canes pose fall risks due to misuse.
• Robotic assistance devices aim to enhance stability and safety.
• Gait analysis is crucial for personalized assistive device control.

Purpose of the Study:

• To present a novel control strategy for a robotic cane that automatically adapts to user gait characteristics.
• To investigate the feasibility of synchronizing robotic cane motion with user gait.
• To lay the groundwork for advanced robotic canes in assistance and rehabilitation.

Main Methods:

• A robotic cane with a motorized telescopic shaft and two actuated wheels was developed.
• Two Inertial Measurement Units (IMUs), one on the cane and one on the user's thigh, were utilized.
• Control strategy involved tracking the thigh angle during the swing phase and immobilizing wheels during the stance phase.

Main Results:

• The robotic cane successfully synchronized its orientation with the user's impaired leg thigh angle during the swing phase.
• The cane provided stable mechanical support during the stance phase.
• Shaft length adjustment maintained a constant handle height throughout the gait cycle.

Conclusions:

• The proposed control strategy demonstrates the feasibility of gait synchronization in robotic canes.
• The adaptive system shows significant potential for reducing fall risks associated with cane misuse.
• Further end-user testing is recommended to validate the system for permanent assistance or rehabilitation applications.