This paper presents the vibration reduction algorithm at the walking-will recognition sensors on the uneven terrain. Recently, concern about walking assistant aids is increasing according to the increase in population of elder and handicapped person. However, most of walking aids don't have any actuators for its movement. So, general walking aids have weakness for its movement to upward/download direction of slope. To overcome the weakness of the general walking aids, many researches for active type walking aids are being progressed. Especially, vibration analysis and impulse reduction are one of the important elements of the active-type walking aid during moving on the outdoor area because the ground has many kinds of obstacles such as speed dumps, puddles and so on. So, we analyze the influence from vibration by uneven terrain. And then, we propose the impulse reduction algorithm to overcome the vibration. All the processes are verified experimentally in an active-type walking aid.
Caloric vestibular stimulation (CVS) and galvanic vestibular stimulation (GVS) act primarily on the peripheral vestibular system. Although the electrical current applied during GVS is thought to flow through peripheral vestibular organs, some current may spread into areas within the central nervous system, particularly when the bilateral galvanic vestibular stimulation (bGVS) method is used. According to Alexander's law, the magnitude of nystagmus increases with eccentric gaze movement, due to the function of the neural integrator (NI); thus, if the information for vestibular stimulation corresponds to Alexander's law, the peripheral vestibular organ is stimulated. Therefore, it would appear that if CVS results comply with Alexander's law, and bGVS results do not, the sites stimulated by bGVS are not perfectly located in the peripheral vestibular area. In our experiments on normal human subjects, the magnitude of nystagmus under CVS increased with rising gaze eccentricity in the direction that the magnitude of the nystagmus increases, and this change was found to follow Alexander's law. However, in the case of nystagmus under bGVS, results did not follow Alexander's law. In addition, study of the influences of bGVS at different current intensities on nystagmus magnitude showed that bGVS at 5 mA distorted nystagmus magnitude more than at 3 mA, which suggests bGVS acts not only on the peripheral vestibular nerves, but also on some areas of the central nervous system, particularly the NI. According to our experiments, bGVS directly affects neural integrator function.
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