TY - GEN
T1 - A therapist helping hand for walker-assisted gait rehabilitation
T2 - 4th IEEE Colombian Conference on Automatic Control, CCAC 2019
AU - Sierra, Sergio D.M.
AU - Jimenez, Mario F.
AU - Munera, Marcela C.
AU - Bastos, Teodiano
AU - Frizera-Neto, Anselmo
AU - Cifuentes, Carlos A.
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by Colombian Department Col-ciencias (Grant 801-2017) and the Colombian School of Engineering Julio Garavito Funds. This work was partially supported by FAPES (80709036 & 72982608), and CNPq (304192/2016-3). This study was financed in part by the Coordenac¸ão de Aperfeic¸oamento de Pessoal de Nivel Superior – Brasil (CAPES) - Finance Code 001.
Publisher Copyright:
© 2019 IEEE.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2019/10
Y1 - 2019/10
N2 - Smart Walkers are robotic devices commonly used to improve physical stability and sensory support for people with lower limb weakness or cognitive impairments. Even though such devices offer continuous monitoring during physical rehabilitation, providing a tool to empower therapists might reduce their efforts and increase patient's safety during gait therapies. The implementation of remote-operation strategies enable therapy managers to remote control and assess the smart walker and user information. In this context, this paper presents a new strategy to control and perceive a walker-assisted gait therapy, by means of a haptic joystick with three operational modes. A set of path following tasks were implemented to validate the operational modes. The kinematic estimation error was calculated, and it was found a decrease in the error, when feedback modes were used. Likewise, results from an usability and acceptance questionnaire show better participant's understating of visual feedback mode, and higher effort perception under haptic feedback mode. This interaction strategy represents a potential joystick application as a safety and control interface in walker-assisted gait.
AB - Smart Walkers are robotic devices commonly used to improve physical stability and sensory support for people with lower limb weakness or cognitive impairments. Even though such devices offer continuous monitoring during physical rehabilitation, providing a tool to empower therapists might reduce their efforts and increase patient's safety during gait therapies. The implementation of remote-operation strategies enable therapy managers to remote control and assess the smart walker and user information. In this context, this paper presents a new strategy to control and perceive a walker-assisted gait therapy, by means of a haptic joystick with three operational modes. A set of path following tasks were implemented to validate the operational modes. The kinematic estimation error was calculated, and it was found a decrease in the error, when feedback modes were used. Likewise, results from an usability and acceptance questionnaire show better participant's understating of visual feedback mode, and higher effort perception under haptic feedback mode. This interaction strategy represents a potential joystick application as a safety and control interface in walker-assisted gait.
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U2 - 10.1109/CCAC.2019.8920943
DO - 10.1109/CCAC.2019.8920943
M3 - Conference contribution
AN - SCOPUS:85077965278
T3 - 4th IEEE Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, CCAC 2019 - Proceedings
BT - 4th IEEE Colombian Conference on Automatic Control
A2 - Garcia-Tirado, Jose
A2 - Munoz-Durango, Diego
A2 - Alvarez, Hernan
A2 - Botero-Castro, Hector
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 October 2019 through 18 October 2019
ER -