Gait Training Robot with Intermittent Force Application based on Prediction of Minimum Toe Clearance
Tamon Miyake,Masakatsu G Fujie,Shigeki Sugano,Tamon Miyake,Masakatsu G Fujie,Shigeki Sugano
Adaptive assistance of gait training robots has been determined to improve gait performance through motion assistance. An important control role during walking is to avoid tripping by controlling minimum toe clearance (MTC), which is an indicator of tripping risk, to avoid its decrease among gait cycles. No conventional gait training robots can adjust assistance timing based on MTC. In this paper,...
