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Development of electric cart for improving walking ability — application of control theory to assistive technology

Science China(Information Sciences) 2017年第12期60卷 262-270页

作者： Jinhua SHE yasuhiro ohyama Min WU Hiroshi HASHIMOTO School of Engineering Tokyo University of Technology School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Master Program of Innovation for Design & Engineering Advanced Institute of Industrial Technology

This paper explains the development of an electric cart that helps the elderly maintain or improve their physical strength. Unlike commercially available ones, it has a pedal unit that provides some exercise for a user in training his lower limbs. An impedance model describes the feeling of pushing the pedals. The largest pedal load is determined based on a pedaling experiment. An H∞ controller is designed for each of the largest pedal load and virtually no load. A control law, which is based on the concept of dynamic parallel distributed compensation, is designed using the rating of perceived exertion of a driver as a criterion to choose a pedal load between the largest and almost zero. Five university students and twelve elderly people participated experiments to verify the system design and the validity of the system.

关键词： aging Borg’s scale dynamic parallel distributed compensation electrical cart H_∞ control Karvonen formula lower limbs pedaling rating of perceived exertion

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Selection of Suitable Maximum-heart-rate Formulas for Use with Karvonen Formula to Calculate Exercise Intensity

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International Journal of Automation and computing 2015年第1期12卷 62-69页

作者： Jinhua She Hitoshi Nakamura Koji Makino yasuhiro ohyama Hiroshi Hashimoto Graduate School of Bionics Computer and Media Sciences Tokyo University of Technology 1404-1 KatakuraHachioji Tokyo 192-0982 Japan Interdisciplinary Graduate School of Medical and Engineering University of Yamanashi4-3-11 Takeda Kofu 400-8511 Japan Master Program of Innovation for Design and Engineering Advanced Institute of Industrial Technology 1-10-40 HigashiooiShinagawa-ku Tokyo 140-0011 Japan

The Karvonen formula, which is widely used to estimate exercise intensity, contains maximum heart rate, H Rmax, as a variable. This study employed pedaling experiments to assess which of the proposed formulas for calculating H Rmaxwas the most suitable for use with the Karvonen formula. First, two kinds of experiments involving an ergometer were performed: an all-in-one-day experiment that tested eight pedaling loads in one day, and a one-load-per-day experiment that tested one load per day for eight days.A comparison of the data on 7 subjects showed that the all-in-one-day type of experiment was better for assessing H Rmaxformulas,at least for the load levels tested in our experiments. A statistical analysis of the experimental data on 47 subjects showed two of the H Rmaxformulas to be suitable for use in the Karvonen formula to estimate exercise intensity for males in their 20 s. In addition, the physical characteristics of a person having the greatest impact on exercise intensity were determined.

关键词： Borg CR10 scale Karvonen formula exercise intensity maximum heart rate pedaling statistical analysis

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