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Cooperative Control Design for Robot-Assisted Balance During Gait = Kooperative Regelung robotischer Gleichgewichtsunterstützung während des Gehens

Vallery, Heike ; Bögel, Alexander ; O´Brien, Carolyn ; Riener, Robert

In: at - Automatisierungstechnik, 2012, vol. 60, no. 11, p. 715-720

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    Titre
    • Cooperative Control Design for Robot-Assisted Balance During Gait
    Titre traduit ()
    • Kooperative Regelung robotischer Gleichgewichtsunterstützung während des Gehens
    Auteur
    • Vallery, Heike. E-mail: heike.vallery@ethz.ch
    • Bögel, Alexander. Convadis AG, Untersiggenthal,, Schweiz
    • O´Brien, Carolyn. VirtaMed AB, Zürich, Schweiz
    • Riener, Robert. ETH Zürich, Sensory-Motor Systems Lab, Zürich, Schweiz
    Type de document
    • Postprint
    Langue
    • Tedesco
    Publié dans
    • at - Automatisierungstechnik, 2012, vol. 60, no. 11, p. 715-720. Oldenbourg Wissenschaftsverlag GmbH
    Autre version électronique
    Identifiant OAI-PMH
    • oai:doc.rero.ch:297540
    Summary
    Avoiding falls is a challenge for many persons in aging societies, and balance dysfunction is a major risk factor. Robotic solutions to assist human gait, however, focus on average kinematics, and less on instantaneous balance reactions. We propose a controller that only intervenes when needed, and that avoids stability issues when interacting with humans: Assistance is triggered only when balance is lost, and this action is purely feed-forward. Experiments show that subjects who start falling during gait can be uprighted by such feed-forward assistive forces