Abstract:
The present disclosure provides a walk assist robot for lower body walking of a walking trainee, including a joint angle signal measurement unit disposed on a joint of the walking trainee, an electromyogram (EMG) signal measurement unit disposed on a muscle related to ankle joint extension of the walking trainee, a plantar pressure signal measurement unit disposed on a sole of the walking trainee, and a control unit to recognize signals measured from the joint angle signal measurement unit, the EMG signal measurement unit and the plantar pressure signal measurement unit and process the signals to recognize a walking speed intention of the walking trainee, wherein the control unit controls a walking speed of the walk assist robot from the walking speed intention of the walking trainee.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
       [0001]    This application claims priority to Korean Patent Application No. 10-2015-0123027, filed on Aug. 31, 2015, and all the benefits accruing therefrom under 35 U.S.C. §119, the contents of which in its entirety are herein incorporated by reference. 
       BACKGROUND 
       [0002]    1. Field 
         [0003]    The present disclosure relates to a method which recognizes a walking speed intention of a walking trainee wearing a walk assist robot and controls a walking speed of the walk assist robot using the same. 
         [0004]    Specifically, the present disclosure relates to a method which recognizes a walking speed intention of a walking trainee from surface electromyogram (EMG) of muscles related to ankle joint extension in the plantar flexor of the walking trainee, and a method which controls a walking speed of a walk assist robot using the same. 
         [0005]    Also, the present disclosure relates to a method which selects a linear or non-linear function in proportion to a plantar flexor EMG waveform length maximum value in the stance phase during the gait cycle of a walking trainee, sets coefficients of the function, and recognizes a walking speed intention, and a method which observes changes in plantar pressure or knee joint angle of a walking trainee and determines the end of stance phase, and a method which controls a walking speed of a walk assist robot to conform to a walking speed intention of a walking trainee. 
         [0006]    [Description about National Research and Development Support] 
         [0007]    This study was supported by the Robot Industry Convergence Technology Development program of Ministry of Trade, Industry and Energy, Republic of Korea (Project No. 1415135300) under the Korea Evaluation Institute of Industrial Technology. 
         [0008]    2. Description of the Related Art 
         [0009]    Recently, walk assist robots such as exoskeleton type gait rehabilitation training robots and robots for increasing muscular strength are being actively developed. Also, many studies have been made on human-robot interfaces to intuitively operate these robots according to the intention of walking trainees. These studies are about making new intuitive human-robot interface protocols related to robot manoeuvre and applying them to robots, rather than a direct intention related to gait of walking trainees. 
         [0010]    A conventional example of this walk assist robot is disclosed in  FIG. 10 . 
         [0011]    The conventional walk assist robot  100  includes a chair  101  and a body weight support system  108  to support a body of a walking trainee, and the body weight support system  108  is supported on a supporting member  103 . 
         [0012]    Also, through a height adjustment device  102 , the height of the body weight support system  108  can be adjusted based on a body size of the walking trainee, and a speed controller  107  disposed at the lower part of the walk assist robot  100  controls the speed of a conveyor  106 , and controls the speed of a treadmill  104  through a hinge mechanism  105  connected to the conveyor  106 . 
         [0013]    However, the conventional walk assist robot  100  can control the walking speed, but simply controls the speed of the treadmill  104  only by a control method of the walk assist robot  100  itself, and does not consider a walking intention of the walking trainee at all. 
         [0014]    Thus, there is a need for technology that finds a direct walking intention from bio-signals of walking trainees and applies it to robots, and particularly, in the case of gait rehabilitation training robots, such technology is essential. 
         [0015]    Gait rehabilitation training robots are being clinically used mainly for hemiplegic patients after stroke, and their goal is to restore damaged brain functions related to gait through gait training. Thus, what is needed to increase a rehabilitation effect of gait rehabilitation training is not new intuitive human-robot interface protocols, but identifying instructions related to gait carried from the brain to lower limb muscles and controlling robots in accordance with the instructions. 
         [0016]    Also, through this, there is a need for development of walk assist robots that contribute to the reduction in social costs for taking care of walking trainees by enabling them to walk almost like normal people independently without wearing robots when they finish rehabilitation training. 
       Related Literatures 
       [0017]    U.S. Pat. No. 8,623,098 
       SUMMARY 
       [0018]    To solve the problem, the present disclosure is intended to control a walking speed of a walk assist robot based on the recognition of a walking speed intention using noninvasive surface electromyogram (EMG) signals, rather than recognition of an exercise intention of each joint, in order to enable a walking trainee to walk. 
         [0019]    Also, the present disclosure is intended to provide a walk assist robot for resolving a conflict between a walking speed intention of a walking trainee and a stable walking trajectory of a walk assist robot and a method of controlling a walking speed of a walk assist robot. 
         [0020]    To achieve the objects, the present disclosure provides a walk assist robot for lower body walking of a walking trainee, including a joint angle signal measurement unit disposed on a joint of the walking trainee, an EMG signal measurement unit disposed on a muscle related to ankle joint extension of the walking trainee, a plantar pressure signal measurement unit disposed on a sole of the walking trainee, and a control unit to recognize signals measured from the joint angle signal measurement unit, the EMG signal measurement unit and the plantar pressure signal measurement unit and process the signals to recognize a walking speed intention of the walking trainee, wherein the control unit controls a walking speed of the walk assist robot from the walking speed intention of the walking trainee. 
         [0021]    Also, the control unit of the present disclosure may further include a signal processing unit to process the joint angle signal and the plantar pressure signal, a waveform length calculation unit to calculate a waveform length from the EMG signal, and a stance phase determination unit to determine a stance phase range of walking of the walking trainee. 
         [0022]    Also, in the present disclosure, the walking speed intention of the walking trainee may be repetitively recognized each point in time at which the stance phase of walking ends, and the EMG signal measurement unit may be arranged at a position of at least one of soleus, gastrocnemius, and peroneus longus muscles in the muscle related to ankle joint extension of the walking trainee. 
         [0023]    Also, the plantar pressure signal measurement unit of the present disclosure may be arranged at a position of at least one of a medial forefoot, a lateral forefoot and a rearfoot of left and right soles of the walking trainee, and the joint angle signal measurement unit may be arranged at left and right knee joints or angle joints of the walking trainee. 
         [0024]    Also, the control unit of the present disclosure may estimate a walking speed intention in a swing phase during a gait cycle of the walking trainee, using a maximum value of the waveform length of the EMG signal in the stance phase during the gait cycle of the walking trainee. 
         [0025]    Also, the present disclosure provides a method of controlling a walking speed of a walk assist robot using the walk assist robot described above, the method including measuring a joint angle signal from the joint angle signal measurement unit, measuring an EMG signal from the EMG signal measurement unit, measuring a plantar pressure signal from the plantar pressure signal measurement unit, performing primary signal-processing of at least one of the joint angle signal, the EMG signal and the plantar pressure signal, calculating a waveform length from the primary signal-processed EMG signal, determining a stance phase from the primary signal-processed joint angle signal and the primary signal-processed plantar pressure signal, recognizing a walking speed intention from the waveform length and the stance phase, generating a walking trajectory of the walk assist robot from the walking speed intention, and controlling a walking speed of the walk assist robot from the walking trajectory of the walk assist robot. 
         [0026]    Through the present disclosure, a walking speed intention of a walking trainee and a method of controlling a walking speed of a walk assist robot using the same may be applied to human-robot interfaces in gait rehabilitation training robots and robots for increasing muscular strength, and may be used for a robot to change its walking speed according to a robot wearer&#39;s intention. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0027]      FIG. 1  is a schematic side view showing a walk assist robot according to an embodiment of the present disclosure. 
           [0028]      FIG. 2  is a schematic block diagram showing a method of controlling a walk assist robot according to an embodiment of the present disclosure. 
           [0029]      FIG. 3  is a graph showing surface electromyogram (EMG) and a waveform length of a walking trainee, and plantar pressure in an inside forefoot and a rearfoot of a right foot of the walking trainee while walking. 
           [0030]      FIG. 4  is a graph for a comparison of an actual walking speed of a walking trainee and a walking speed intention according to an embodiment of the present disclosure. 
           [0031]      FIG. 5  is another graph for a comparison of an actual walking speed of a walking trainee and a walking speed intention according to an embodiment of the present disclosure. 
           [0032]      FIG. 6  is a graph for a comparison of EMG signals and a walking speed intention of a walking trainee and a walking speed of a walk assist robot according to one embodiment of the present disclosure. 
           [0033]      FIG. 7  is a schematic perspective view showing a walk assist robot according to another embodiment of the present disclosure. 
           [0034]      FIG. 8  is a schematic block diagram showing a method of controlling a walk assist robot according to another embodiment of the present disclosure. 
           [0035]      FIG. 9  is a graph for a comparison of EMG signals, joint angle signals and a walking speed intention of a walking trainee according to another embodiment of the present disclosure. 
           [0036]      FIG. 10  is a schematic side view of a walk assist robot according to related art. 
       
    
    
     DETAILED DESCRIPTION 
       [0037]    Hereinafter, a walk assist robot and a method of controlling a walking speed of a walk assist robot according to the present disclosure is described through the preferred embodiments of the present disclosure with reference to the accompanying drawings. 
         [0038]    Prior to the description, in many embodiments, one representative embodiment is described using the same reference numerals for elements having the same configuration, and the other embodiments are only described for the other elements. 
         [0039]      FIG. 1  is a schematic side view showing a walk assist robot according to an embodiment of the present disclosure. As shown in  FIG. 1 , a walking trainee stands in a right position on the walk assist robot  10  according to an embodiment of the present disclosure. 
         [0040]    Specifically, a treadmill  14  is arranged at the lower part of the walk assist robot  10 , and the operating speed of the treadmill  14  may be changed through signals from a control unit  30 . 
         [0041]    Also, a joint angle signal measurement unit  11  is arranged at knee joints or ankle joints of the walking trainee, an electromyogram (EMG) signal measurement unit  12  is arranged at the position of muscles related to extension of the ankle joints of the walking trainee, and a plantar pressure signal measurement unit  13  is arranged at the position of soles of the walking trainee. 
         [0042]    Signals measured from the joint angle signal measurement unit  11 , the EMG signal measurement unit  12  and the plantar pressure signal measurement unit  13  are transmitted to the control unit  30 , and a walking speed intention of the walking trainee is recognized through signal processing as described later. 
         [0043]      FIG. 2  is a schematic block diagram showing a method of processing, by the control unit  30 , the signals measured from the joint angle signal measurement unit  11 , the EMG signal measurement unit  12  and the plantar pressure signal measurement unit  13  of the walk assist robot according to an embodiment of the present disclosure. 
         [0044]    As shown in  FIG. 2 , joint angle signals {right arrow over (a)}(t), plantar pressure signals {right arrow over (p)}(t) and EMG signals {right arrow over (s)}(t) from a subject getting on the walk assist robot are measured. 
         [0045]    The EMG signals are measured from at least one of soleus, gastrocnemius, and peroneus longus muscles related to ankle joint extension in the left and right plantar flexors, for example, 2, 4 or 6 muscles of left and right legs. 
         [0046]    The plantar pressure signals are measured by pressure sensors attached to 3-4 points on a medial forefoot, a lateral forefoot and a rearfoot of left and right soles, for example, 6 or 8 points on left and right soles. 
         [0047]    The joint angle signals are measured by encoders attached to left and right knee joints or ankle joints of the robot, for example, 2 or 4 joints of left and right legs. 
         [0048]    Here, either the joint angle signals or the plantar pressure signals or both of them may be measured. 
         [0049]    The signals measured as described in the foregoing are passed through a signal processing unit (a band-pass filter or a low-pass filter) that performs signal processing based on the characteristics of each signal, and the signal-processed EMG signals {right arrow over (S)}(t) are inputted to a waveform length calculation unit and used to calculate a waveform length {right arrow over (L)}(t) by a method such as the following equation 1. 
         [0000]    
       
         
           
             
               
                 
                   
                     
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         [0050]    On the other hand, the signal-processed plantar pressure signals {right arrow over (P)}(t) and the signal-processed joint angle signals {right arrow over (A)}(t) are inputted to a stance phase determiner of the control unit  30  to determine a stance phase range of the gait phase. 
         [0051]    The stance phase determiner finds the beginning t 1  and the end t 2  of the stance phase of each leg using either the signal-processed plantar pressure signals or the signal-processed joint angle signals or both of them. 
         [0052]    Then, a stance phase range maximum value detection unit finds a waveform length maximum value L M  during the stance phase duration in a way such as the following equation 2, and a walking speed intention recognition unit recognizes a walking speed intention W S  in a way such as equation 3. Here, the function ƒ(•) is a function that defines a proportional relationship between the waveform length maximum value and the walking speed intention, and may be a linear function, a polynomial function, or a non-linear function. 
         [0000]    
       
         
           
             
               
                 
                   
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         [0053]    The walking speed intention is recognized each point in time at which the stance phase ends during walking, and is inputted to a real-time robot walking trajectory generation unit and a speed control unit of the treadmill  14  to generate a walking trajectory {right arrow over (T)}(t) of the robot in real time and control the speed of the treadmill  14  and the walking speed of the walk assist robot  10 . 
         [0054]      FIG. 3  is a graph showing surface EMG and a waveform length, and plantar pressure in a medial forefoot and a rearfoot of a right foot of a walking trainee while walking. 
         [0055]    In  FIG. 3 , the unit of X axis is second (sec), and the unit of Y axis is voltage (volt). It can be seen that a soleus surface EMG waveform length maximum value in the stance phase increases with the increasing walking speed. 
         [0056]    To compare to a walking speed, the function ƒ(•) in equation 3 is simply defined as a first degree directly proportional function as shown in the following equation 4 to recognize a walking speed, and a comparison to an actual walking speed is as shown in  FIG. 4 . 
         [0000]        W   S   =K×L   M   (4)
 
         [0057]    Accordingly, a speed intention of the walking trainee may be recognized by suitably selecting a gain K, an assisting force of the walk assist robot may be increased or decreased by adjusting the dimension of gain, and a more accurate walking speed intention may be recognized by non-linearly selecting the gain K as a function of L M  and changing it based on the waveform length maximum value. 
         [0058]    For example, referring to  FIG. 5 , it can be also seen from an actual walking speed during flatland accelerated walking of a hemiplegic patient after stroke (a 63-year-old male patient with chronic hemiparesis for 15 years after paralysis on the left side), and a result of multiplying an EMG waveform length of soleus by the gain K in equation 4 that a walking speed intention may be recognized from EMG of unaffected side as well as EMG of affected side as shown in  FIG. 5 . Thus, it can be seen that the control method of the present disclosure can be thoroughly applied to hemiplegic patients after stroke to recognize a walking speed intention. 
         [0059]      FIG. 6  is a graph showing a result of applying to an exoskeleton type gait rehabilitation robot based on the treadmill  14  to demonstrate one embodiment of the present disclosure. 
         [0060]    A non-disabled man in his early 30s got on a walk assist robot as shown in  FIG. 6  and walked according to his intention.  FIG. 6  shows a result of multiplying EMG waveform lengths of soleus, gastrocnemius, and peroneus longus of a right leg by the gain K in equation 4, and a walking speed intention recognized from equation 4. 
         [0061]    In  FIG. 6 , the reason why the walking speed intention does not exceed 2 Km/h is that the walking speed of the walk assist robot is programmatically limited to 2 Km/h for safety of the subject. It can be seen from  FIG. 6  that the walk assist robot is walking according to an intention of the subject by using one embodiment of the present disclosure. Thus, it can be seen that the walk assist robot recognizes a walking speed intention from only EMG signals by the control method according to one embodiment of the present disclosure and is walking according to the result. 
         [0062]    Also, when a waveform length of surface EMG of muscles related to extension of ankle joints in plantar flexor while he is standing still is higher than or equal to a particular value, it is recognized as an intention to start walking with the other foot&#39;s forward step, and when a waveform length maximum value in the stance phase while he is walking is lower than or equal to a particular value, it is recognized as an intention to stop walking. Thus, the walking trainee&#39;s intention to start walking and stop walking can be recognized. 
         [0063]      FIG. 7  is a schematic perspective view showing a walk assist robot according to another embodiment of the present disclosure, and it is applied to an exoskeleton walk assist robot  20  with no treadmill  14  for ground gait rehabilitation training dissimilar to the previous embodiment. 
         [0064]    This another embodiment of the present disclosure is controlled as shown in  FIG. 8 , and EMG signals, joint angle signals and a walking speed intention of a walking trainee are shown in  FIG. 9 . 
         [0065]    The specific operation method or control method of this another embodiment of the present disclosure is the same as the previous embodiment except that the tread mill  14  is omitted, and its detailed description is omitted herein. 
         [0066]    As such, those skilled in the art will understand that the present disclosure may be embodied in other specific forms without any change to its technical aspect or essential feature. 
         [0067]    Therefore, it should be understood that the embodiments described hereinabove are for illustration in all aspects and are not intended to limit the above embodiments, and it should be construed that the scope of the present disclosure is defined by the appended claims rather than the above detailed description, and the meaning and scope of the claims and all changes or modifications derived from equivalent concepts fall within the scope of the present disclosure. 
         [0068]    The present disclosure is applied to gait rehabilitation robots and medical equipment for lower limb rehabilitation capable of reflecting an intention to implement EMG based walking speed intention detection technique, thereby providing rehabilitation therapy with an addition of a top-down rehabilitation approach to an existing bottom-up rehabilitation approach, which is applied to stroke patients to implement rehabilitation therapy capable of adjusting a walking speed according to patients&#39; intention. 
         [0069]    Also, the present disclosure is applied to walk assist robots to implement EMG based walking speed detection technique, and through this, the present disclosure may recognize a walking speed intention of a user and allow a walk assist robot to make movements and assist walking according to the user&#39;s intention. 
         [0000]    
       
         
               
             
               
               
               
               
             
           
               
                   
               
               
                 Reference Symbols 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                 10: 
                 Walk assist robot 
                 11: 
                 Joint angle measurement unit 
               
               
                 12: 
                 EMG measurement unit 
                 13: 
                 Plantar pressure measurement 
               
               
                   
                   
                   
                 unit 
               
               
                 14: 
                 Treadmill 
                 30: 
                 Control unit 
               
               
                 20: 
                 Exoskeleton walk assist robot 
               
               
                 21: 
                 Joint angle measurement unit 
                 22: 
                 EMG measurement unit 
               
               
                 23: 
                 Plantar pressure measurement 
                 30: 
                 Control unit 
               
               
                   
                 unit