Training Assist System of a Lower Limb Prosthetic Visualizing Floor-Reaction Forces Using a Color-Depth Sensing Camera

Kunihiro OGATA  Tomoki MITA  Takeshi SHIMIZU  Nobuya YAMASAKI  

IEICE TRANSACTIONS on Information and Systems   Vol.E98-D    No.11    pp.1916-1922
Publication Date: 2015/11/01
Publicized: 2015/07/28
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2015EDP7089
Type of Manuscript: PAPER
Category: Rehabilitation Engineering and Assistive Technology
rehabilitation,  visualization,  prosthetic leg,  zero moment point,  

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Some unilateral lower-limb amputees, have through continued exertion, increase the foot reaction force of the sound leg. The asymmetric gait with a prosthetic leg may thus negatively affect the musculoskeletal health of the leg on the healthy side. Therefore, it is important for these amputees to learn how to adjust the balance of each foot load in training. The aim of this study is to develop a training support system visualizing floor-reaction forces using a color-depth sensor. The pose of the entire body of the amputee is measured by the depth sensor, and the floor reaction force is estimated based on Zero Moment Point (ZMP), which is calculated using the center of mass of the amputee. Evaluation experiments of the proposed method were performed and they confirmed the effectiveness of the estimation method and the training with the visualization of reaction force.