Mechanical Systems Control Laboratory

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Last updated on August 07, 2010

Human Mechatronics
-->Human Assistive Systems: Bio-Mechatronics
-->Intelligent Power Assist Systems Auto-Adaptive to Varying Human Characteristics and Environmental Conditions
-->Intelligent Power Assist Steering System

Human Assistive Systems: Bio-Mechatronics

Introduction | Research | Technical Objectives | Related Publications | Researchers

Introduction




This research studies fundamental issues in the development of advanced sensing technologies for mobile assistive devices. We are developing a simple yet reliable means to identify the motion phases of gait including abnormalities in swing, single foot stance, step length, push off and weight distribution. The smart assistive device will utilize the identified results to assist elderly and patients in improved efficiency, effectiveness and safety in walking. Identification of the motion phases is achieved by measuring the grand contact forces (GCF).

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Research




In this research, we developed new sensing methods for GCF (e.g., Smart shoes), new analysis and recognition methods of the phases of human motion, and the integration of sensors in assistive devices. The developed analysis and recognition method has the following capabilities: 1) identification of the phases of human motion, 2) quantification of the abnormality of a patient's gait, and 3) estimation of the human joint torques for the feedback control of assistive devices. The effectiveness of motion phase identification are being evaluated on human subjects who exhibit a normal gait as well as those with an abnormal gait. Identified results are to be utilized in a variety of ways such as providing feedback information to patients to help them resume a normal gait.

We have developed prototype orthoses to assist patients as a part of this research. The developed devices utilize an innovative idea of flexible joint actuation for precise torque control.


Active assistive system


Passive assistive system

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Technical Objectives

Technical Objectives




The technical objectives of this research are as follows:

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advantage

Related Publications in this Research



Please refer to the publication list page, Dr. Kong 's personal webpage, and Dr. Bae 's personal webpage for related publications.

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Researchers

Researchers

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