P2.7 - Situation detection in a movement-assistive device
- AMA Conferences 2017
2017-05-30 - 2017-06-01
- Proceedings Sensor 2017
- P2 - Mechanical Sensors
- J. Hielscher, A. Horn, M. Grün, M. Hessinger, M. Schindler, F. Bauer, R. Werthschützky - Technische Universität Darmstadt (Germany)
- 594 - 598
The collaboration of human and robot in an intuitive and synergistic way is crucial for all movementassistive devices, such as exoskeletons and powered orthoses. This paper reports about the approach to estimate the situations of human everyday-life to control a powered knee-ankle-foot orthosis. A fuzzy-logic based algorithm evaluates the sensor signals of ground reaction forces, knee angles and muscle activity. With this setup, the seven most relevant situations for human mobility can be distinguished in 90% of the recorded time. All situation transitions were recognized correctly.