Development of a human- robot-environment interface for walker-assisted locomotion
In recent years, different factors have contributed to the growth of the population with disabilities, becoming an important focus of study and research worldwide. In this way, the constant work of medicine, engineering, and robotics have led to the development of different gait assistive devices. A...
- Autores:
-
Sierra Marín, Sergio David
- Tipo de recurso:
- Fecha de publicación:
- 2020
- Institución:
- Escuela Colombiana de Ingeniería Julio Garavito
- Repositorio:
- Repositorio Institucional ECI
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.escuelaing.edu.co:001/1211
- Acceso en línea:
- https://catalogo.escuelaing.edu.co/cgi-bin/koha/opac-detail.pl?biblionumber=22403
https://repositorio.escuelaing.edu.co/handle/001/1211
- Palabra clave:
- Robótica
Caminadores Inteligentes
Interacción Humano-Robot-Ambiente
Estrategias de Control
Rehabilitación de la Marcha
Robotics
Smart Walkers
Human–Robot–Environment interaction
Control Strategies
Gait Rehabilitation
- Rights
- openAccess
- License
- Derechos Reservados - Escuela Colombiana de Ingeniería Julio Garavito
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ESCUELAIG2 |
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Repositorio Institucional ECI |
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| dc.title.spa.fl_str_mv |
Development of a human- robot-environment interface for walker-assisted locomotion |
| title |
Development of a human- robot-environment interface for walker-assisted locomotion |
| spellingShingle |
Development of a human- robot-environment interface for walker-assisted locomotion Robótica Caminadores Inteligentes Interacción Humano-Robot-Ambiente Estrategias de Control Rehabilitación de la Marcha Robotics Smart Walkers Human–Robot–Environment interaction Control Strategies Gait Rehabilitation |
| title_short |
Development of a human- robot-environment interface for walker-assisted locomotion |
| title_full |
Development of a human- robot-environment interface for walker-assisted locomotion |
| title_fullStr |
Development of a human- robot-environment interface for walker-assisted locomotion |
| title_full_unstemmed |
Development of a human- robot-environment interface for walker-assisted locomotion |
| title_sort |
Development of a human- robot-environment interface for walker-assisted locomotion |
| dc.creator.fl_str_mv |
Sierra Marín, Sergio David |
| dc.contributor.advisor.spa.fl_str_mv |
Cifuentes García, Carlos Andrés (Director) Múnera, Marcela (Co-Director) |
| dc.contributor.author.spa.fl_str_mv |
Sierra Marín, Sergio David |
| dc.subject.spa.fl_str_mv |
Robótica Caminadores Inteligentes Interacción Humano-Robot-Ambiente Estrategias de Control Rehabilitación de la Marcha |
| topic |
Robótica Caminadores Inteligentes Interacción Humano-Robot-Ambiente Estrategias de Control Rehabilitación de la Marcha Robotics Smart Walkers Human–Robot–Environment interaction Control Strategies Gait Rehabilitation |
| dc.subject.keywords.spa.fl_str_mv |
Robotics Smart Walkers Human–Robot–Environment interaction Control Strategies Gait Rehabilitation |
| description |
In recent years, different factors have contributed to the growth of the population with disabilities, becoming an important focus of study and research worldwide. In this way, the constant work of medicine, engineering, and robotics have led to the development of different gait assistive devices. Among these devices, smart walkers have emerged intending to provide physical and cognitive assistance during the rehabilitation process. The smart walkers are often equipped with actuators and sensory modalities that provide monitoring mechanisms and individual’s intention estimators for user interaction, as well as several control strategies for movement and assistance level control. Accordingly, this master’s thesis presents the design, development, and implementation of a Human-Robot-Environment interface in a robotic platform that emulates a smart walker, the AGoRAWalker. This interface is made up of several modules such as a navigation and people detection system, a safety system, a motion intention detection system, and a group of autonomous and shared control strategies. The functionalities of the AGoRA Walker were validated through different experiments in healthy and pathological volunteers. Likewise, usability and performance tests of the platform were carried out, finding that the AGoRA Walker can provide an intuitive and natural interaction in different rehabilitation scenarios. |
| publishDate |
2020 |
| dc.date.accessioned.spa.fl_str_mv |
2020-07-22T22:29:57Z |
| dc.date.available.spa.fl_str_mv |
2020-07-22T22:29:57Z |
| dc.date.issued.spa.fl_str_mv |
2020-07-21 |
| dc.date.accessioned.none.fl_str_mv |
2021-10-01T15:57:05Z |
| dc.date.available.none.fl_str_mv |
2021-10-01T15:57:05Z |
| dc.type.spa.fl_str_mv |
Trabajo de grado - Maestría |
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http://purl.org/coar/version/c_970fb48d4fbd8a85 |
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info:eu-repo/semantics/publishedVersion |
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Text |
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info:eu-repo/semantics/masterThesis |
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http://purl.org/redcol/resource_type/TM |
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publishedVersion |
| dc.identifier.uri.spa.fl_str_mv |
https://catalogo.escuelaing.edu.co/cgi-bin/koha/opac-detail.pl?biblionumber=22403 |
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https://repositorio.escuelaing.edu.co/handle/001/1211 |
| url |
https://catalogo.escuelaing.edu.co/cgi-bin/koha/opac-detail.pl?biblionumber=22403 https://repositorio.escuelaing.edu.co/handle/001/1211 |
| dc.language.iso.spa.fl_str_mv |
eng |
| language |
eng |
| dc.rights.spa.fl_str_mv |
Derechos Reservados - Escuela Colombiana de Ingeniería Julio Garavito |
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http://purl.org/coar/access_right/c_abf2 |
| dc.rights.uri.spa.fl_str_mv |
https://creativecommons.org/licenses/by-nc/4.0/ |
| dc.rights.accessrights.spa.fl_str_mv |
info:eu-repo/semantics/openAccess |
| dc.rights.creativecommons.spa.fl_str_mv |
Atribución-NoComercial 4.0 Internacional (CC BY-NC 4.0) |
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Derechos Reservados - Escuela Colombiana de Ingeniería Julio Garavito https://creativecommons.org/licenses/by-nc/4.0/ Atribución-NoComercial 4.0 Internacional (CC BY-NC 4.0) http://purl.org/coar/access_right/c_abf2 |
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openAccess |
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application/pdf |
| dc.publisher.spa.fl_str_mv |
Escuela Colombiana de Ingeniería Julio Garavito |
| dc.publisher.program.spa.fl_str_mv |
Maestría en Ingeniería Electrónica |
| institution |
Escuela Colombiana de Ingeniería Julio Garavito |
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Cifuentes García, Carlos Andrés (Director)0b0fa67301d487d67c728f7b5f0ee155300Múnera, Marcela (Co-Director)6925f051b4d2e28fd5982216bb5d135b300Sierra Marín, Sergio David17c3a8dad54a58e858f8f40c64fb85ea6002020-07-22T22:29:57Z2021-10-01T15:57:05Z2020-07-22T22:29:57Z2021-10-01T15:57:05Z2020-07-21https://catalogo.escuelaing.edu.co/cgi-bin/koha/opac-detail.pl?biblionumber=22403https://repositorio.escuelaing.edu.co/handle/001/1211In recent years, different factors have contributed to the growth of the population with disabilities, becoming an important focus of study and research worldwide. In this way, the constant work of medicine, engineering, and robotics have led to the development of different gait assistive devices. Among these devices, smart walkers have emerged intending to provide physical and cognitive assistance during the rehabilitation process. The smart walkers are often equipped with actuators and sensory modalities that provide monitoring mechanisms and individual’s intention estimators for user interaction, as well as several control strategies for movement and assistance level control. Accordingly, this master’s thesis presents the design, development, and implementation of a Human-Robot-Environment interface in a robotic platform that emulates a smart walker, the AGoRAWalker. This interface is made up of several modules such as a navigation and people detection system, a safety system, a motion intention detection system, and a group of autonomous and shared control strategies. The functionalities of the AGoRA Walker were validated through different experiments in healthy and pathological volunteers. Likewise, usability and performance tests of the platform were carried out, finding that the AGoRA Walker can provide an intuitive and natural interaction in different rehabilitation scenarios.En los últimos años, diferentes factores han contribuido al crecimiento de la población con discapacidades, convirtiéndose en un importante foco de estudio e investigación en todo el mundo. De esta manera, el trabajo constante de la medicina, la ingeniería y la robótica han llevado a la el desarrollo de diferentes dispositivos de ayuda a la marcha. Entre estos dispositivos, los andadores inteligentes han surgido con la intención de proporcionar asistencia física y cognitiva durante la rehabilitación proceso. Los caminantes inteligentes a menudo están equipados con actuadores y sensores que proporcionan mecanismos de seguridad y estimadores de intención de movimiento para la interacción con los usuarios, así como varias estrategias de control para el movimiento y la asistencia. En consecuencia, esta tesis de maestría presenta el diseño, desarrollo e implementación de una interfaz Humano-Robot-Ambiente en una plataforma robótica que emula a un caminador inteligente, el AGoRA Walker. Esta interfaz está compuesta por varios módulos como un sistema de navegación y de detección de personas, un sistema de seguridad, un sistema de detección de intención de movimiento, y un grupo de estrategias de control autónomas y compartidas. Las funcionalidades del AGoRA Walker fueron validadas a través de diferentes experimentos en voluntarios sanos y patológicos. Asimismo, se llevaron a cabo pruebas de usabilidad y rendimiento de la plataforma, encontrando que el AGoRA Walker puede proporcionar una interacción intuitiva y natural en diferentes escenarios de rehabilitación.MaestríaMagíster en Ingeniería Electrónicaapplication/pdfengEscuela Colombiana de Ingeniería Julio GaravitoMaestría en Ingeniería ElectrónicaDerechos Reservados - Escuela Colombiana de Ingeniería Julio Garavitohttps://creativecommons.org/licenses/by-nc/4.0/info:eu-repo/semantics/openAccessAtribución-NoComercial 4.0 Internacional (CC BY-NC 4.0)http://purl.org/coar/access_right/c_abf2RobóticaCaminadores InteligentesInteracción Humano-Robot-AmbienteEstrategias de ControlRehabilitación de la MarchaRoboticsSmart WalkersHuman–Robot–Environment interactionControl StrategiesGait RehabilitationDevelopment of a human- robot-environment interface for walker-assisted locomotionTrabajo de grado - 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