Development of Gait Phase Detection Algorithm using ankle data for Hemiplegic Patients

Abstract

ABSTRACT

Development of Gait Phase Detection Algorithm for Hemiplegic Patients

Hwang, Seunghoon Department of Interdisciplinary Engineering Systems Graduate School, Hanyang University

Recently the population of old age increase rapidly. So many stroke patients and rehabilitation demand also increase. Satisfying this problem, many engineers develop rehabilitation robot. Exoskeleton robot is one of the rehabilitation robot. In this paper, focus on exoskeleton type robot. Exoskeleton type robot give assist to patients can do ADL(active daily life) and rehabilitation that restore their motor control. For example lower-limb exoskeleton robot help patients to walk like healthy human. In human walking, ankle have very important role that make drive force of walking and prevent abnormal walking. For satisfy this ankle role lower-limb exoskeleton robot have two strategy one is passive ankle joint that focus on only prevent foot drop phenomenon another is active ankle joint that can prevent foot drop and make drive force. But when and how robot give assist to human is very difficult. So many solution that robot detect human intention was studied for robot give assist to patients at proper timing. In this paper, design gait phase detection algorithm that detect human gait phase for active ankle joint give assist at proper timing. And design algorithm that detect abnormal gait also research in this paper.