A performance study of a wearable balance assistance device consisting of scissored-pair control moment gyroscopes and a two-axis inclination sensor

Romtrairat, Parineak; Virulsri, Chanyaphan; Wattanasiri, Panipat; Tangpornprasert, Pairat

doi:10.1016/j.jbiomech.2020.109957

Cited by 7 publications

(7 citation statements)

References 16 publications

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“…Given the relatively recent appearance of these technologies in wearable applications, there are few empirical analyses and it is yet unclear which actuation architecture is best (or even feasible) for practical implementation. For example, most empirical studies involving control moment gyroscopes have thus far sought to influence balance through control of the motion of the CoM [ 30 , 63 , 64 ], whereas control of the lower extremities has been investigated only in simulations [ 65 ]. However, parallel research has explored the uses of these actuators on the limbs for other purposes, such as tremor-suppression (GyroGlove by GyroGear; London, UK), upper-extremity prostheses [ 66 , 67 ], and emulation of virtual environments [ 68 ].…”

Section: Discussionmentioning

confidence: 99%

Reaction moments matter when designing lower-extremity robots for tripping recovery

et al. 2023

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Balance recovery after tripping often requires an active adaptation of foot placement. Thus far, few attempts have been made to actively assist forward foot placement for balance recovery employing wearable devices. This study aims to explore the possibilities of active forward foot placement through two paradigms of actuation: assistive moments exerted with the reaction moments either internal or external to the human body, namely ‘joint’ moments and ‘free’ moments, respectively. Both paradigms can be applied to manipulate the motion of segments of the body (e.g., the shank or thigh), but joint actuators also exert opposing reaction moments on neighbouring body segments, altering posture and potentially inhibiting tripping recovery. We therefore hypothesised that a free moment paradigm is more effective in assisting balance recovery following tripping. The simulation software SCONE was used to simulate gait and tripping over various ground-fixed obstacles during the early swing phase. To aid forward foot placement, joint moments and free moments were applied either on the thigh to augment hip flexion or on the shank to augment knee extension. Two realizations of joint moments on the hip were simulated, with the reaction moment applied to either the pelvis or the contralateral thigh. The simulation results show that assisting hip flexion with either actuation paradigm on the thigh can result in full recovery of gait with a margin of stability and leg kinematics closely matching the unperturbed case. However, when assisting knee extension with moments on the shank, free moment effectively assist balance but joint moments with the reaction moment on the thigh do not. For joint moments assisting hip flexion, placement of the reaction moment on the contralateral thigh was more effective in achieving the desired limb dynamics than placing the reaction on the pelvis. Poor choice of placement of reaction moments may therefore have detrimental consequences for balance recovery, and removing them entirely (i.e., free moment) could be a more effective and reliable alternative. These results challenge conventional assumptions and may inform the design and development of a new generation of minimalistic wearable devices to promote balance during gait.

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Section: Discussionmentioning

confidence: 99%

Reaction moments matter when designing lower-extremity robots for tripping recovery

et al. 2023

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“…Previous studies have employed the IMU sensor for movement detection (Tadano et al, 2016;Yuan and Chen, 2014;Tadano et al, 2013;Anwary et al, 2018), with a focus on refining sensor connectivity. In addition, the papers investigated gait pattern for both the right and left legs to enhance walking (Anwary et al, 2018;Chattopadhyay and Nandy, 2018;Romtrairat et al, 2020). Subsequently, the model was trained to validate the hypothesis and define the walking patterns.…”

Section: Discussionmentioning

confidence: 99%

“…The gait cycle is the cycle of walking comprising separated stages of leg movement. The major parts of walking have 2 stages: swing and stance (Soangra et al, 2022;Yakimovich et al, 2006;Romtrairat et al, 2020;Kongkhiaw, 2010). Assuming issues arise in these two parts are problematic, the walking pattern in each state will differ.…”

Section: Introductionmentioning

confidence: 99%

Walking pattern analysis using the gait cycle to classify a healthy and an unhealthy form

Suntikan,

Tangwongcharoen

2023

SEHS

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This study proposed an algorithm to classify normal and abnormal forms of walking patterns by identifying the swing and stance phases, known as the gait cycle. The walking patterns were examined by collecting data using Razor IMU sensors. The Wi-Fi transmitter was utilized to transfer raw data for further analysis, representing the gait cycle using a linear graph. The data were preprocessed and transformed into phase graphs using the polar coordinate equation. To identify areas of density, data were incorporated into K-mean clustering. A k-value of 2 groups represented the major walking phases and classified patterns based on a regional model. The experimental results enable us to define healthy and unhealthy forms. This algorithm conveniently assists in diagnosing basic physical conditions, and the dataset is efficient for monitoring the medical treatment process among recipients.

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“…Another possible method to adjust H is the use of angular momentum exchange devices containing one or more flywheels, such as a control moment gyroscope (CMG). CMGs can generate moments without anchoring to an inertial frame making them excellent candidates for wearable devices to influence H [24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Light-Weight Wearable Gyroscopic Actuators Can Modulate Balance Performance and Gait Characteristics: A Proof-of-Concept Study

Sterke,

Poggensee,

Ribbers

et al. 2023

Healthcare

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Falling is a major cause of morbidity, and is often caused by a decrease in postural stability. A key component of postural stability is whole-body centroidal angular momentum, which can be influenced by control moment gyroscopes. In this proof-of-concept study, we explore the influence of our wearable robotic gyroscopic actuator “GyroPack” on the balance performance and gait characteristics of non-impaired individuals (seven female/eight male, 30 ± 7 years, 68.8 ± 8.4 kg). Participants performed a series of balance and walking tasks with and without wearing the GyroPack. The device displayed various control modes, which were hypothesised to positively, negatively, or neutrally impact postural control. When configured as a damper, the GyroPack increased mediolateral standing time and walking distance, on a balance beam, and decreased trunk angular velocity variability, while walking on a treadmill. When configured as a negative damper, both peak trunk angular rate and trunk angular velocity variability increased during treadmill walking. This exploratory study shows that gyroscopic actuators can influence balance and gait kinematics. Our results mirror the findings of our earlier studies; though, with more than 50% mass reduction of the device, practical and clinical applicability now appears within reach.

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A performance study of a wearable balance assistance device consisting of scissored-pair control moment gyroscopes and a two-axis inclination sensor

Cited by 7 publications

References 16 publications

Reaction moments matter when designing lower-extremity robots for tripping recovery

Reaction moments matter when designing lower-extremity robots for tripping recovery

Walking pattern analysis using the gait cycle to classify a healthy and an unhealthy form

Light-Weight Wearable Gyroscopic Actuators Can Modulate Balance Performance and Gait Characteristics: A Proof-of-Concept Study

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