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Conference Paper
Development of the Wearable Sensor System for the User’s Walking Intent Recognition in the Walk-Assistance Robot
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- Authors
- Eun-Hye Jang, Sang-Seung Kang, Jae-Yeon Lee, Su-Young Chi, Young-Jo Cho, Byung-Lim Park
- Issue Date
- 2011-02
- Citation
- International Conference on Fuzzy Systems and Neural Computing (FSNC) 2011, pp.1-4
- Language
- English
- Type
- Conference Paper
- Abstract
- This paper describes about the development of a wearable sensor system using FSRs (Force Sensing Resistors) that control the walk-assistance robot and a multi-channel EMG system to handles FES for restoring lower extremity function. Considering the user of our robot is paraplegic patient, in this study, the walk of the user who wears the robot is based on a triped walking with crutches in both hands. The wearable sensor system is to detect the user's walking intents and states while a person is walking. It consists of five modules: watch sensor module for walk mode selection, glove sensor module detecting resistor on the palm using FSR sensors, shoe-insoles sensor module sensing resistor from the soles of a user's foot by FSR sensors, host module that transmit sensor data to PC, and IMU sensor module measuring the angle during posture change of the upper limb. The multi-channel EMG system for controlling FES is the module with six channels composed of amplification, filtering, analysis, and transmission component. The glove sensor module could detect the walking intent by FSR signals, and the walk states using the shoe-insoles sensor module. The multichannel EMG system could simultaneously detect the muscle contraction at six muscles and control FES.
- KSP Keywords
- Assistance Robot, Both hands, Force Sensing, IMU sensor, Intent recognition, Mode Selection, Sensing resistor, Sensor module, Upper Limb, Wearable sensor system, lower extremity