Implementation of Fall Detection for WAR-Exoskeleton Robot
| dc.contributor.author | Wanayuth Sanngoen | th_TH |
| dc.contributor.author | Pathid Liamtrakoolpanich | th_TH |
| dc.date.accessioned | 2563-04-21T16:22:41Z | |
| dc.date.available | 2020-04-21T16:22:41Z | |
| dc.date.issued | 2563-01-01 | |
| dc.description | From survey data of around 1.88M disabled people, (Department of Empowerment of Persons with Disabilities, in year 2017), 48.97% have been found to have lost their hearing, 18.39% have been found to have lost their ability to speak, 10.26% have been found to have lost their sight and the rest have been found to have lost the ability to use other limbs or body functions. Though a lot of the disabilities are those related to the senses however, the numbers of body related disabilities are increasing as time goes by. Therefore, we aim focus on how to serve those whose disability is of the lower limb, and aim to create an exoskeleton which allows them to walk in step motion similar to normal people. | th_TH |
| dc.description.abstract | In this paper, we presented a method of detecting the state of the lower limb exoskeleton for a fall detection function based on the WAR exoskeleton robot platform. While in motion, the exoskeleton is to follow the gait pattern data. The exoskeleton functions on distributive control where the hip joints and knee joints are controlled by the PID controller. Several equations are derived which outlines the conditions needed to keep the exoskeleton balanced and unlikely to fall. Deviations from the expected patterns and angle changes in the exoskeleton robot may cause instability and imbalance. Experimental results on the moment during leg motion and positional changes of the centroid while robot is in motion are obtained and used as conditions for fall detection. The method proposed is effective for fall detection in war-exoskeleton robot. | th_TH |
| dc.description.sponsorship | Sripatum University | th_TH |
| dc.identifier.citation | Pathid Liamtrakoolpanich and Wanayuth Sanngoen, "Implementation of Fall Detection for WAR-Exoskeleton Robot" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 2, pp. 287-292, February 2020. DOI: 10.18178/ijmerr.9.2.287-292 | th_TH |
| dc.identifier.isbn | DOI: 10.18178/ijmerr.9.2.287-292 | |
| dc.identifier.uri | https://dspace.spu.ac.th/handle/123456789/6640 | |
| dc.language.iso | en | th_TH |
| dc.subject | fall detection, assistive device, exoskeleton robot, gait pattern, lower limb motion | th_TH |
| dc.title | Implementation of Fall Detection for WAR-Exoskeleton Robot | th_TH |
| dc.type | Article | th_TH |