Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker

The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic tec...

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Autores:
Sierra M., Sergio D.
Garzón, Mario
Múnera, Marcela
Cifuentes, Carlos A.
Tipo de recurso:
Article of journal
Fecha de publicación:
2019
Institución:
Escuela Colombiana de Ingeniería Julio Garavito
Repositorio:
Repositorio Institucional ECI
Idioma:
eng
OAI Identifier:
oai:repositorio.escuelaing.edu.co:001/3347
Acceso en línea:
https://repositorio.escuelaing.edu.co/handle/001/3347
https://repositorio.escuelaing.edu.co/
Palabra clave:
Robótica médica
Robotics in medicine
Aparatos fisiológicos
Physiological apparatus
Tecnología médica
Medical technology
Caminadores (Aparatos ortopédicos)
Walkers (Orthopedic apparatus)
Andador inteligente
Interacción hombre-robot-medio ambiente
Estrategias de control
Control compartido
Asistencia para caminar
Rehabilitación de la marcha
Smart walker
Human–robot–environment interaction
Control strategies
Shared control
Gait assistance
Gait rehabilitation
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closedAccess
License
http://purl.org/coar/access_right/c_14cb
id ESCUELAIG2_b02174396bf54f1f6cb2b0c05d7b1e97
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network_acronym_str ESCUELAIG2
network_name_str Repositorio Institucional ECI
repository_id_str
dc.title.eng.fl_str_mv Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
title Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
spellingShingle Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
Robótica médica
Robotics in medicine
Aparatos fisiológicos
Physiological apparatus
Tecnología médica
Medical technology
Caminadores (Aparatos ortopédicos)
Walkers (Orthopedic apparatus)
Andador inteligente
Interacción hombre-robot-medio ambiente
Estrategias de control
Control compartido
Asistencia para caminar
Rehabilitación de la marcha
Smart walker
Human–robot–environment interaction
Control strategies
Shared control
Gait assistance
Gait rehabilitation
title_short Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
title_full Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
title_fullStr Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
title_full_unstemmed Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
title_sort Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA Walker
dc.creator.fl_str_mv Sierra M., Sergio D.
Garzón, Mario
Múnera, Marcela
Cifuentes, Carlos A.
dc.contributor.author.none.fl_str_mv Sierra M., Sergio D.
Garzón, Mario
Múnera, Marcela
Cifuentes, Carlos A.
dc.contributor.researchgroup.spa.fl_str_mv GiBiome
dc.subject.armarc.none.fl_str_mv Robótica médica
Robotics in medicine
Aparatos fisiológicos
Physiological apparatus
Tecnología médica
Medical technology
Caminadores (Aparatos ortopédicos)
Walkers (Orthopedic apparatus)
topic Robótica médica
Robotics in medicine
Aparatos fisiológicos
Physiological apparatus
Tecnología médica
Medical technology
Caminadores (Aparatos ortopédicos)
Walkers (Orthopedic apparatus)
Andador inteligente
Interacción hombre-robot-medio ambiente
Estrategias de control
Control compartido
Asistencia para caminar
Rehabilitación de la marcha
Smart walker
Human–robot–environment interaction
Control strategies
Shared control
Gait assistance
Gait rehabilitation
dc.subject.proposal.spa.fl_str_mv Andador inteligente
Interacción hombre-robot-medio ambiente
Estrategias de control
Control compartido
Asistencia para caminar
Rehabilitación de la marcha
dc.subject.proposal.eng.fl_str_mv Smart walker
Human–robot–environment interaction
Control strategies
Shared control
Gait assistance
Gait rehabilitation
description The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.
publishDate 2019
dc.date.issued.none.fl_str_mv 2019
dc.date.accessioned.none.fl_str_mv 2024-10-25T17:48:01Z
dc.date.available.none.fl_str_mv 2024-10-25T17:48:01Z
dc.type.spa.fl_str_mv Artículo de revista
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_2df8fbb1
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dc.type.content.spa.fl_str_mv Text
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status_str publishedVersion
dc.identifier.issn.spa.fl_str_mv 1424-8220
dc.identifier.uri.none.fl_str_mv https://repositorio.escuelaing.edu.co/handle/001/3347
dc.identifier.eissn.spa.fl_str_mv 1424-8220
dc.identifier.instname.spa.fl_str_mv Escuela Colombiana de Ingeniería Julio Garavito
dc.identifier.reponame.spa.fl_str_mv Repositorio Digital
dc.identifier.repourl.spa.fl_str_mv https://repositorio.escuelaing.edu.co/
identifier_str_mv 1424-8220
Escuela Colombiana de Ingeniería Julio Garavito
Repositorio Digital
url https://repositorio.escuelaing.edu.co/handle/001/3347
https://repositorio.escuelaing.edu.co/
dc.language.iso.spa.fl_str_mv eng
language eng
dc.relation.citationedition.spa.fl_str_mv Vol 19, 2019
dc.relation.citationendpage.spa.fl_str_mv 2926
dc.relation.citationstartpage.spa.fl_str_mv 2897
dc.relation.citationvolume.spa.fl_str_mv 19
dc.relation.ispartofjournal.eng.fl_str_mv Sensors
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spelling Sierra M., Sergio D.737e72bd7de516ba4165724b71283ae0Garzón, Marioe287d3d79dfce2a4357b50c72d7a393fMúnera, Marcela8047a30ff2499f8ae5a4e903871b8f95Cifuentes, Carlos A.0b885a45437175ae12e5d0a6f598afc4GiBiome2024-10-25T17:48:01Z2024-10-25T17:48:01Z20191424-8220https://repositorio.escuelaing.edu.co/handle/001/33471424-8220Escuela Colombiana de Ingeniería Julio GaravitoRepositorio Digitalhttps://repositorio.escuelaing.edu.co/The constant growth of the population with mobility impairments has led to the development of several gait assistance devices. Among these, smart walkers have emerged to provide physical and cognitive interactions during rehabilitation and assistance therapies, by means of robotic and electronic technologies. In this sense, this paper presents the development and implementation of a human–robot–environment interface on a robotic platform that emulates a smart walker, the AGoRA Walker. The interface includes modules such as a navigation system, a human detection system, a safety rules system, a user interaction system, a social interaction system and a set of autonomous and shared control strategies. The interface was validated through several tests on healthy volunteers with no gait impairments. The platform performance and usability was assessed, finding natural and intuitive interaction over the implemented control strategies.El constante crecimiento de la población con problemas de movilidad ha propiciado el desarrollo de varios dispositivos de asistencia para la marcha. Entre ellos, han surgido andadores inteligentes para proporcionar actividad física. e interacciones cognitivas durante las terapias de rehabilitación y asistencia, mediante sistemas robóticos y tecnologías electrónicas. En este sentido, este trabajo presenta el desarrollo e implementación de una interfaz humano-robot-entorno en una plataforma robótica que emula un andador inteligente, el AGoRA Caminante. La interfaz incluye módulos como un sistema de navegación, un sistema de detección humana, un sistema de reglas de seguridad, un sistema de interacción con el usuario, un sistema de interacción social y un conjunto de reglas autónomas. y estrategias de control compartidas. La interfaz fue validada mediante varias pruebas en voluntarios sanos. sin alteraciones de la marcha. Se evaluó el rendimiento y usabilidad de la plataforma, encontrando natural y interacción intuitiva sobre las estrategias de control implementadas.29 páginasapplication/pdfengMDPI (Multidisciplinary Digital Publishing Institute)Suizahttps://www.mdpi.com/1424-8220/19/13/2897Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait: AGoRA WalkerArtículo de revistainfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501http://purl.org/coar/resource_type/c_2df8fbb1Textinfo:eu-repo/semantics/articlehttp://purl.org/coar/version/c_970fb48d4fbd8a85Vol 19, 20192926289719SensorsBuchman, A.S.; Boyle, P.A.; Leurgans, S.E.; Barnes, L.L.; Bennett, D.A. Cognitive Function is Associated with the Development of Mobility Impairments in Community-Dwelling Elders. Am. J. Geriatr. Psychiatry 2011, 19, 571–580. [CrossRef] [PubMed]Pirker, W.; Katzenschlager, R. Gait disorders in adults and the elderly. Wien. Klin. Wochenschr. 2017, 129, 81–95. 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[CrossRef]info:eu-repo/semantics/closedAccesshttp://purl.org/coar/access_right/c_14cbRobótica médicaRobotics in medicineAparatos fisiológicosPhysiological apparatusTecnología médicaMedical technologyCaminadores (Aparatos ortopédicos)Walkers (Orthopedic apparatus)Andador inteligenteInteracción hombre-robot-medio ambienteEstrategias de controlControl compartidoAsistencia para caminarRehabilitación de la marchaSmart walkerHuman–robot–environment interactionControl strategiesShared controlGait assistanceGait rehabilitationTEXTHuman–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.pdf.txtHuman–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.pdf.txtExtracted texttext/plain89797https://repositorio.escuelaing.edu.co/bitstream/001/3347/4/Human%e2%80%93Robot%e2%80%93Environment%20Interaction%20Interface%20for%20Smart%20Walker%20Assisted%20Gait%20AGoRA%20Walker.pdf.txt72c8bacbf8b81235ab4e7b4d99ebdfabMD54metadata only accessTHUMBNAILPortada Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.PNGPortada Human–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.PNGimage/png169543https://repositorio.escuelaing.edu.co/bitstream/001/3347/3/Portada%20Human%e2%80%93Robot%e2%80%93Environment%20Interaction%20Interface%20for%20Smart%20Walker%20Assisted%20Gait%20AGoRA%20Walker.PNG0266f539919f7dc84ce166cdcda3563bMD53open accessHuman–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.pdf.jpgHuman–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.pdf.jpgGenerated Thumbnailimage/jpeg14928https://repositorio.escuelaing.edu.co/bitstream/001/3347/5/Human%e2%80%93Robot%e2%80%93Environment%20Interaction%20Interface%20for%20Smart%20Walker%20Assisted%20Gait%20AGoRA%20Walker.pdf.jpg91565ec549e17a38b6f8a428558b5cebMD55metadata only accessLICENSElicense.txtlicense.txttext/plain; charset=utf-81881https://repositorio.escuelaing.edu.co/bitstream/001/3347/2/license.txt5a7ca94c2e5326ee169f979d71d0f06eMD52open accessORIGINALHuman–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.pdfHuman–Robot–Environment Interaction Interface for Smart Walker Assisted Gait AGoRA Walker.pdfapplication/pdf21296465https://repositorio.escuelaing.edu.co/bitstream/001/3347/1/Human%e2%80%93Robot%e2%80%93Environment%20Interaction%20Interface%20for%20Smart%20Walker%20Assisted%20Gait%20AGoRA%20Walker.pdf683f49395eab66b23eeff79fe35543a7MD51metadata only access001/3347oai:repositorio.escuelaing.edu.co:001/33472024-10-26 03:00:20.923metadata only accessRepositorio Escuela Colombiana de Ingeniería Julio Garavitorepositorio.eci@escuelaing.edu.coU0kgVVNURUQgSEFDRSBQQVJURSBERUwgR1JVUE8gREUgUEFSRVMgRVZBTFVBRE9SRVMgREUgTEEgQ09MRUNDScOTTiAiUEVFUiBSRVZJRVciLCBPTUlUQSBFU1RBIExJQ0VOQ0lBLgoKQXV0b3Jpem8gYSBsYSBFc2N1ZWxhIENvbG9tYmlhbmEgZGUgSW5nZW5pZXLDrWEgSnVsaW8gR2FyYXZpdG8gcGFyYSBwdWJsaWNhciBlbCB0cmFiYWpvIGRlIGdyYWRvLCBhcnTDrWN1bG8sIHZpZGVvLCAKY29uZmVyZW5jaWEsIGxpYnJvLCBpbWFnZW4sIGZvdG9ncmFmw61hLCBhdWRpbywgcHJlc2VudGFjacOzbiB1IG90cm8gKGVuICAgIGFkZWxhbnRlIGRvY3VtZW50bykgcXVlIGVuIGxhIGZlY2hhIAplbnRyZWdvIGVuIGZvcm1hdG8gZGlnaXRhbCwgeSBsZSBwZXJtaXRvIGRlIGZvcm1hIGluZGVmaW5pZGEgcXVlIGxvIHB1YmxpcXVlIGVuIGVsIHJlcG9zaXRvcmlvIGluc3RpdHVjaW9uYWwsIAplbiBsb3MgdMOpcm1pbm9zIGVzdGFibGVjaWRvcyBlbiBsYSBMZXkgMjMgZGUgMTk4MiwgbGEgTGV5IDQ0IGRlIDE5OTMsIHkgZGVtw6FzIGxleWVzIHkganVyaXNwcnVkZW5jaWEgdmlnZW50ZQphbCByZXNwZWN0bywgcGFyYSBmaW5lcyBlZHVjYXRpdm9zIHkgbm8gbHVjcmF0aXZvcy4gRXN0YSBhdXRvcml6YWNpw7NuIGVzIHbDoWxpZGEgcGFyYSBsYXMgZmFjdWx0YWRlcyB5IGRlcmVjaG9zIGRlIAp1c28gc29icmUgbGEgb2JyYSBlbiBmb3JtYXRvIGRpZ2l0YWwsIGVsZWN0csOzbmljbywgdmlydHVhbDsgeSBwYXJhIHVzb3MgZW4gcmVkZXMsIGludGVybmV0LCBleHRyYW5ldCwgeSBjdWFscXVpZXIgCmZvcm1hdG8gbyBtZWRpbyBjb25vY2lkbyBvIHBvciBjb25vY2VyLgpFbiBtaSBjYWxpZGFkIGRlIGF1dG9yLCBleHByZXNvIHF1ZSBlbCBkb2N1bWVudG8gb2JqZXRvIGRlIGxhIHByZXNlbnRlIGF1dG9yaXphY2nDs24gZXMgb3JpZ2luYWwgeSBsbyBlbGFib3LDqSBzaW4gCnF1ZWJyYW50YXIgbmkgc3VwbGFudGFyIGxvcyBkZXJlY2hvcyBkZSBhdXRvciBkZSB0ZXJjZXJvcy4gUG9yIGxvIHRhbnRvLCBlcyBkZSBtaSBleGNsdXNpdmEgYXV0b3LDrWEgeSwgZW4gY29uc2VjdWVuY2lhLCAKdGVuZ28gbGEgdGl0dWxhcmlkYWQgc29icmUgw6lsLiBFbiBjYXNvIGRlIHF1ZWphIG8gYWNjacOzbiBwb3IgcGFydGUgZGUgdW4gdGVyY2VybyByZWZlcmVudGUgYSBsb3MgZGVyZWNob3MgZGUgYXV0b3Igc29icmUgCmVsIGRvY3VtZW50byBlbiBjdWVzdGnDs24sIGFzdW1pcsOpIGxhIHJlc3BvbnNhYmlsaWRhZCB0b3RhbCB5IHNhbGRyw6kgZW4gZGVmZW5zYSBkZSBsb3MgZGVyZWNob3MgYXF1w60gYXV0b3JpemFkb3MuIEVzdG8gCnNpZ25pZmljYSBxdWUsIHBhcmEgdG9kb3MgbG9zIGVmZWN0b3MsIGxhIEVzY3VlbGEgYWN0w7phIGNvbW8gdW4gdGVyY2VybyBkZSBidWVuYSBmZS4KVG9kYSBwZXJzb25hIHF1ZSBjb25zdWx0ZSBlbCBSZXBvc2l0b3JpbyBJbnN0aXR1Y2lvbmFsIGRlIGxhIEVzY3VlbGEsIGVsIENhdMOhbG9nbyBlbiBsw61uZWEgdSBvdHJvIG1lZGlvIGVsZWN0csOzbmljbywgCnBvZHLDoSBjb3BpYXIgYXBhcnRlcyBkZWwgdGV4dG8sIGNvbiBlbCBjb21wcm9taXNvIGRlIGNpdGFyIHNpZW1wcmUgbGEgZnVlbnRlLCBsYSBjdWFsIGluY2x1eWUgZWwgdMOtdHVsbyBkZWwgdHJhYmFqbyB5IGVsIAphdXRvci5Fc3RhIGF1dG9yaXphY2nDs24gbm8gaW1wbGljYSByZW51bmNpYSBhIGxhIGZhY3VsdGFkIHF1ZSB0ZW5nbyBkZSBwdWJsaWNhciB0b3RhbCBvIHBhcmNpYWxtZW50ZSBsYSBvYnJhIGVuIG90cm9zIAptZWRpb3MuRXN0YSBhdXRvcml6YWNpw7NuIGVzdMOhIHJlc3BhbGRhZGEgcG9yIGxhcyBmaXJtYXMgZGVsIChsb3MpIGF1dG9yKGVzKSBkZWwgZG9jdW1lbnRvLiAKU8OtIGF1dG9yaXpvIChhbWJvcykK

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