Gyroscopic assistance for human balance

International Workshop on Advanced Motion Control, AMC

Volumn , Issue , 2012, Pages

  Li, Dustin ^a,b   Vallery, Heike ^c  

^a KHALIFA UNIVERSITY   (United Arab Emirates)

^b GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

^c BALGRIST UNIVERSITY HOSPITAL   (Switzerland)

Author keywords

[No Author keywords available]

Indexed keywords

BALANCE DYSFUNCTION; DAILY LIVES; ENGAGEMENT ANGLE; HUMAN BALANCE; HUMAN LOCOMOTIONS; RISK FACTORS; ROBOTIC TECHNOLOGIES; TASK-SPECIFIC DEVICES; VERTICAL POSITIONS;

MOTION CONTROL; ROBOTICS;

WALKING AIDS;

EID: 84861597420     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AMC.2012.6197144     Document Type: Conference Paper

References (25)

1. V. Scott, M. Pearce, and C. Pengelly, "Deaths due to falls among Canadians age 65 and over," Public Health Agency of Canada, Tech. Rep., 2005.
2. G. F. Fuller, "Falls in the elderly," American Family Physician, vol. 61, no. 7, pp. 2159-68, 2173-4, 2000.
3. P. Sardain and G. Bessonnet, "Forces acting on a biped robot. Center of pressure-zero moment point," IEEE Transactions on Systems, Man and Cybernetics, Part A, vol. 34, no. 5, pp. 630-637, 2004.
4. A. D. Kuo and F. E. Zajac, "Human standing posture: multi-joint movement strategies based on biomechanical constraints," Progress in Brain Research, vol. 97, pp. 349-58, 1993.
5. F. B. Horak and L. M. Nashner, "Central programming of postural movements: adaptation to altered support-surface configurations," Journal of Neurophysiology, vol. 55, pp. 1369-1381, 1986.
6. A. L. Hof, "The 'extrapolated center of mass' concept suggests a simple control of balance in walking," Human Movement Science, vol. 27, pp. 112-125, 2008.
7. M. A. Townsend, "Biped gait stabilization via foot placement." Journal of Biomechanics, vol. 18, no. 1, pp. 21-38, 1985.
8. S. M. Bruijn, O. G. Meijer, P. J. Beek, and J. H. van Dieën, "The effects of arm swing on human gait stability." J Exp Biol, vol. 213, no. Pt 23, pp. 3945-3952, Dec. 2010.
9. J. L. Emken, J. E. Bobrow, and D. J. Reinkensmeyer, "Robotic movement training as an optimization problem: designing a controller that assists only as needed," in Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), 2005, p. 307.
10. L. L. Cai, A. J. Fong, C. K. Otoshi, Y. Liang, J. W. Burdick, R. R. Roy, and V. R. Edgerton, "Implications of assist-as-needed robotic step training after a complete spinal cord injury on intrinsic strategies of motor learning," Journal of Neuroscience, vol. 26, no. 41, pp. 10 564-8, 2006.
11. J. Patton, D. A. Brown, M. Peshkin, J. J. Santos-Munné, A. Makhlin, E. Lewis, E. J. Colgate, and D. Schwandt, "KineAssist: design and development of a robotic overground gait and balance therapy device." Top Stroke Rehabil, vol. 15, no. 2, pp. 131-139, 2008.
12. J. F. Veneman, R. Ekkelenkamp, R. Kruidhof, F. van der Helm, and H. van der Kooij, "A Series Elastic-and Bowden-Cable-Based Actuation System for Use as Torque Actuator in Exoskeleton-Type Robots," International Journal of Robotic Research, vol. 25, no. 3, pp. 261-281, 2006.
13. Z. Matjacic, S. Hesse, and T. Sinkjaer, "BalanceReTrainer: a new standing-balance training apparatus and methods applied to a chronic hemiparetic subject with a neglect syndrome," NeuroRehabilitation, vol. 18, pp. 251-9, 2003.
14. Y. Takahashi, H. Takahashi, K. Sakamoto, and S. Ogawa, "Human balance measurement and human posture assist robot design," in Proceedings of the SICE Annual Conference, 1999, pp. 983-988.
15. H. K. Kwa, J. Noorden, M. Missel, T. Craig, J. Pratt, and P. Neuhaus, "Development of the IHMC Mobility Assist Exoskeleton," in IEEE International Conference on Robotics and Automation (ICRA), May 2009, pp. 2556-2562.
16. H. Bateni and B. E. Maki, "Assistive devices for balance and mobility: Benefits, demands, and adverse consequences," Archives of Physical Medicine and Rehabilitation, vol. 86, no. 1, pp. 134-145, Jan. 2005.
17. T. C. F. Wong and Y. S. Hung, "Stabilization of biped dynamic walking using gyroscopic couple," in Proc. IEEE International Joint Symposia on Intelligence and Systems, Nov. 4-5, 1996, pp. 102-108.
18. K. A. Ford and C. D. Hall, "Flexible Spacecraft Reorientations Using Gimbaled Momentum Wheels," Advances in the Astronautical Sciences, Astrodynamics, vol. 97, pp. 1895-1914, 1997.
19. H. Schaub, S. R. Vadali, and J. L. Junkins, "Feedback Control Law for Variable Speed Control Moment Gyros," Journal of the Astronautical Sciences, vol. 46, no. 3, pp. 307-328, 1998.
20. H. Schaub and J. L. Junkins, "Stereographic Orientation Parameters for Attitude Dynamics: A Generalization of the Rodrigues Parameters," Journal of the Astronautical Sciences, vol. 44, no. 1, pp. 1-19, 1996.
21. H. S. Oh and S. R. Vadali, "Feedback Control and Steering Laws for Spacecraft Using Single Gimbal Control Moment Gyros," Journal of the Astronautical Sciences, vol. 39, no. 2, pp. 183-203, 1991.
22. J. Meuleman, W. Terpstra, J. Meuleman, E. H. van Asseldonk, and H. van der Kooij, "Effect of added inertia on the pelvis on gait," in Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), Zürich, Switzerland, 2011, pp. 1-5.
23. Y. Lajoie and S. P. Gallagher, "Predicting falls within the elderly community: comparison of postural sway, reaction time, the Berg balance scale and the Activities-specific Balance Confidence (ABC) scale for comparing fallers and non-fallers," Archives of Gerontology and Geriatrics, vol. 38, no. 1, pp. 11-26, 2004.
24. S. M. Woolley, S. J. Czaja, and C. G. Drury, "An assessment of falls in elderly men and women." Journal of Gerontology: MEDICAL SCIENCES, vol. 52, no. 2, pp. M80-M87, 1997.
25. M. Kangas, A. Konttila, P. Lindgren, I. Winblad, and T. Jämsä, "Comparison of low-complexity fall detection algorithms for body attached accelerometers." Gait Posture, vol. 28, no. 2, pp. 285-291, Aug. 2008.