Interfaz multimodal para modelado, estudio y asistencia a la marcha humana mediante andadores robóticos

Abstract

In this PhD thesis, the conception, implementation and validation of a multimodal interface for the modeling, study and assistance of human gait is presented. Such an interface is integrated in a rollator walker to achieve an active, adapted and safe support for individuals with reduced mobility, that are usually relegated to the use of wheelchairs and the physiological issues related with their use. Initially, a review of the state-of-the-art of the mobility assistive devices is presented, specially focused on walkers. Among such devices, a class of advanced walkers - the Smart Walkers - is found and it is the focus of many research groups in the United States, Europe and Japan. In this study, a functional classification of the advanced walkers and a detailed analysis of the most significant devices in the literature is performed. From such analysis and considering the identified shortcomings of the Smart Walkers, the SIMBIOSIS Project (CYCIT, ref. number DPI-2005-07417) is proposed and presented. The SIMBIOSIS project is the framework of development of this PhD thesis. With the objective of fulfilling the shortcomings presented, the characterization of walker assisted (human) gait is presented along with the study of certain parameters of the user-walker interaction. The purpose of studies is not only to better understand the gait/interaction process, but also to use this information to obtain signal-processing techniques and control strategies to command the walker in a natural and user-safe manner. Within this focus, the idea is to empower the use of advanced walkers as an efficient functional compensation tool and also for the rehabilitation of pathological human gait. In this context, the main scientific contributions of this thesis are: 1. The characterization of human gait with the developed walker, 2. the description and modeling of the interaction between both agents and their relationship with the environment, 3. the obtaining of a new methodology for the signal processing and control centered in the user and his/her interaction with the walker and, 4. the functional validation of the developed system with the users. The developed system and methods have been effectively verified and validated experimentally with spinal cord injury patients with different degrees of mobility capabilities. The results, obtained both from objective and subjective points-of-view, are considered very satisfactory and are presented in this document, proving the potential of the developed device as a functional compensation tool for people with gait related disabilities and as a rehabilitation system for people with different lower-limbs dysfunction levels. In this regard, the most significant result obtained from the work developed under this PhD thesis was the construction of a safe and reliable assistive tool for people with reduced mobility.