In this project「An Assistance Robot for Walking Balance of the Parkinson Disease Patients」, the objective is to develop an assistance robot to help PD patients for walking balance. Compared to conventional lower limb exoskeleton robots, the developed assistance robot is for the rehabilitation evaluation of PD patients with the walking ability. In this two-year proposal, the first year will focus on the design of the assistance robot applied to the PD patients walking balance, including the investigation on PD patients’ gaits, FOG, loss of balance and the automatic recovery from falling. The detection on the falling by IMU and foot force sensors is also discussed, and the simulation of the assistance robot and validation will be discussed. The second year will focus on the implementation on the walking balance for the PD patients using the developed assistance robot. We develop the gravity compensation control for the assistance robot to track the PDpatient’s gait, and the balance recovery control will be used to assist a patient to walk. Finally, the integrated test and validation test will be analyzed for the assistance robot.
|Effective start/end date||2018/08/01 → 2019/10/31|
- PD、freezing of gait、assistance robot、walking balance
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