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E-raamat: Human-Robot Interaction Strategies for Walker-Assisted Locomotion

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This book presents the development of a new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation. The aim is to achieve a closer interaction between the robotic device and the individual, empowering the rehabilitation potential of such devices in clinical applications. A new multimodal human-robot interface for testing and validating control strategies applied to robotic walkers for assisting human mobility and gait rehabilitation is presented. Trends and opportunities for future advances in the field of assistive locomotion via the development of hybrid solutions based on the combination of smart walkers and biomechatronic exoskeletons are also discussed.

Assistive Devices for Human Mobility and Gait Rehabilitation.- Human-Robot Interaction for Assisting Human Locomotion.- Development of a Cognitive HRI Strategy for Mobile Robot Control.- Cognitive HRI for Human Mobility Assistance.-Multimodal Interface for Human Mobility Assistance.- Conclusions and Future Works.

Arvustused

The purpose is to provide a theoretical and practical understanding of the interface between humans and robotic devices in general and the innovative intelligent walker in particular, which can enable safe and effective walking by people with various forms of neurological disabilities. Figures are plentiful and well done. This is a unique and specialized book focusing heavily on the creation and testing of the innovative robotic walker. The device itself is elegantly designed and thought-provoking, making for good reading. (Elliot J. Roth, Doody's Book Reviews, April, 2017)

1 Assistive Devices for Human Mobility and Gait Rehabilitation
1(16)
1.1 The Locomotor System
1(1)
1.2 Conditions that Affect Mobility
2(1)
1.3 Emerging Design Approaches for Assistive Devices
3(1)
1.4 Mobility Assistive Devices
4(2)
1.5 Devices for Functional Compensation of Gait
6(3)
1.6 Trends in Gait Rehabilitation
9(1)
1.7 Background
10(1)
1.8 Scope of the Book
11(6)
References
12(5)
2 Human-Robot Interaction for Assisting Human Locomotion
17(16)
2.1 Dual Human-Robot Interaction in Assisted Locomotion
18(2)
2.2 General Aspects of Human-Robot Interfaces for Smart Walkers
20(6)
2.2.1 Cognitive Human-Robot Interfaces
20(4)
2.2.2 Physical Human Robot Interfaces
24(2)
2.3 Proposal of a HRI Multimodal Interface
26(7)
References
27(6)
3 Development of a Cognitive HRI Strategy for Mobile Robot Control
33(24)
3.1 Interaction Strategy for cHRI
34(3)
3.2 Estimation of Control Inputs
37(5)
3.2.1 Robot and Sensor System Setup
39(2)
3.2.2 Estimation of Interaction Parameters
41(1)
3.3 Experimental Study
42(11)
3.3.1 Detection and Estimation of Human-Robot Interaction Parameters
45(3)
3.3.2 Controller Evaluation
48(5)
3.4
Chapter Conclusions
53(4)
References
54(3)
4 Cognitive HRI for Human Mobility Assistance
57(24)
4.1 Interaction Strategy Applied in Smart Walker
57(1)
4.2 Multimodal-Interaction Platform
58(4)
4.2.1 Leg Detection Module
59(1)
4.2.2 Human Hip and Walker Orientation
60(1)
4.2.3 Sensor Readings During Walker-Assisted Gait
60(2)
4.3 Human-Walker Parameters Detection
62(8)
4.3.1 Calibration of LRF Sensor
63(2)
4.3.2 Adaptive Estimation of Gait Components
65(1)
4.3.3 Gait Cadence Estimation
66(2)
4.3.4 Control Parameters Estimation
68(2)
4.4 Experimental Study
70(2)
4.5 Results and Discussion
72(6)
4.5.1 Experiment Performing a Straight Path
72(2)
4.5.2 Angular Parameter Evaluation
74(2)
4.5.3 Walker Control System Evaluation
76(2)
4.6
Chapter Conclusions
78(3)
References
79(2)
5 Multimodal Interface for Human Mobility Assistance
81(20)
5.1 Integration of an Upper-Limb Interaction Forces System in the Walker Platform
82(3)
5.2 Multimodal Interaction Strategy
85(8)
5.2.1 Multimodal Interface for the Estimation of Human-Walker Interaction Parameters
86(2)
5.2.2 Evaluation of Human Movement Intention Parameters
88(5)
5.3 Strategies for Forces Interaction Control in Robotic Walkers
93(1)
5.4 Example of a Controller Based on pHRI + cHRI
94(5)
5.4.1 Control Implementation
95(3)
5.4.2 Controller Evaluation
98(1)
5.5 Conclusions
99(2)
References
100(1)
6 Conclusions and Future Works
101
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