Virtual Robot for Interactive Gait Traning Improving Regularity and Dynamic Stability of the Stride Patterns
In this paper, we analyzed the gait support procedure of the lower limbs disturbance by our proposed gait support robot Walk-Mate. Walk-Mate is a virtual locomotion robot, which supports the handicapped gait motion by presenting acoustic rhythmic stimuli controlled dynamically by its users gait motion. We focused on the hemiplegia of lower limb and measured improvement of bilateral asymmetry with Walk-Mates support. As the results, we found that the improvement procedure is realized by following characteristic two mechanisms; Short-term control with about 10 seconds of timescale for the improvement of the phase characteristics of the footstep rhythm and Long-term control with about a minute of timescale for the improvement of the complexity of gait motion pattern. Therefore the result suggests that Walk-Mates rhythmic control mechanism is effective to improve the gait disturbance, from the viewpoints of the rhythm and complexity of gait, and that the improvements are realized by a two-level hierarchical control mechanism in interaction with the dynamic environment.
Takeshi Muto -Barbara Herzberger Joachim Hermsdoerfer Ernst Poeppel Yoshihiro Miyake
AGU - Aoyama Gakuin University, Department of Integrated Information Technology, College of Science GRP - Generation Research Program, Humanwissenschaftliches Zentrum, Ludwig-Maximilians-Universit(a)t TITECH - Tokyo Institute of Technology, Department of Computational intelligence and Systems Science
国际会议
北京
英文
1344-1351
2007-05-23（万方平台首次上网日期，不代表论文的发表时间）