ehsan nazerfard nazerfard@eecs wsu …eecs.wsu.edu/~nazerfard/presentation/gt10.pdf · opid...

Ehsan Nazerfardnazerfard@eecs wsu [email protected]/7/10

IntroductionStandard WalkersSmart WalkersLiterature ReviewSummaryComparisonAnalysis

Di i T iDiscussion TopicsQuestions

Introduction | Standard Walkers | Smart Walkers | Literature Review

One of the problems that affect the most of h ld l l h d fthe elderly population is the reduction of

mobility.Mobilit affectsMobility affectso Person’s locomotion capacityo Ability to realize personal taskso Ability to realize personal taskso …o Interaction of a person with his surroundings


Assistive devices for people with mobility blproblems

o Alternative deviceso Augmentative deviceso Augmentative devices

Depending on the degree of disability of user


In the case of total incapacity of mobilityThese devices mainly include:

o WheelchairsSol tions based on a tonomo s especial ehicleso Solutions based on autonomous especial vehicles


The continuous and sometimes unnecessary f h l h bluse of wheelchairs cause problems:

o Loss of bone masso Degradation of blood circulationo Degradation of blood circulationo Degradation of physiological functions o Skin soreso Osteoporosiso …P h l blPsychology problems


In the case of reduced mobility capacityAugmentative devices

o CanesWalkerso Walkers


In the case of reduced mobility capacityAugmentative devices

o CanesWalkersWalkers

Walkers are the focus of this talk.

Maintaining the standing position has both physical and psychological benefitsphysical and psychological benefits.o Self-esteemo Relationship issues


The walkers play an important role among daugmentative devices

o Large number of userso Simplicity and rehabilitation potentialo Simplicity and rehabilitation potential

Augmentative devices can use person’s Augmentative devices can use person’s ug e tat e de ces ca use pe so sug e tat e de ces ca use pe so sremaining locomotion capability, avoiding remaining locomotion capability, avoiding

the early and deteriorative use of wheelchairsthe early and deteriorative use of wheelchairs


Classification based on ground contact fconfiguration

a. Only with legsb With legs and wheelsb. With legs and wheelsc. Three to four-wheeled walkers


Problem with standard walking aids:o The pushing energy required to moveo The lack of stability, especially in brakingo The possibility of collision with obstacleso The possibility of collision with obstacleso The difficulty with orientation

In case of walkers with legso Unnatural and discontinuous gait pattern

S h d d l f h lko Strength needed to lift the walker


Robotic walkers and guiding devices, using a f dgreat variety of sensors and actuators

Techniques used to solve problems mentionedN i ti t t io Navigation strategies

o Mappingo Controlo Controlo Auto-localizationo Other concepts mostly used in the field of mobile

b irobotics


Smart walker = Robotic versions of walkers

Functions realized by the smart walkers in the liliterature:o Physical assistanceo Sensorial assistanceo Sensorial assistanceo Cognitive assistanceo Health monitoring


All smart walkers, has some kind of physical fsupport functions

Two types of physical assistance:P io Passive

o Active


Goal: Improve stability during gait by d l hintroducing structural enhancements

o Enlargement of base of the deviceo Placement of heavy elements at lower planeso Placement of heavy elements at lower planes

Replacement of the conventional handles by ep ace e t o t e co e t o a a d es byforearm support platformso Degree of freedom of elbow is eliminatedo Higher fraction of user’s weight can be supportedo Risk of glide will be reduced


Common problems with walkers with three to f h lfour wheelso Braking requires muscular strength, motor

coordination and good reaction timecoordination and good reaction time.o Strength necessary to push the walker can be high

Active assistance: Installing motors on wheelso Control the brakes

P id hio Provide pushing energyo The motors are controlled by advance user interface


These devices are equipped with ultrasonic, f dvision or infrared sensors

o Detect static and dynamic obstaclesThe control system assists users to avoid themThe control system assists users to avoid them

o Sound or vibration alertso Operating directly on the device actuatorso Operating directly on the device actuators

Helpful especially for users with visual problems and environments with multiple obstacles


Assisting user navigation and localizationo Structured environmento Outsides

Some programmed to follow pre defined pathsSome programmed to follow pre-defined pathso Clinicso Certain location in a houseo Auto-localization in a map using markers

Helpful especially for people with cognitive issues (memory, orientation, …)


Monitor health parameters of the user in a smart mapo keep a medical history of the usero Inform the medical staff or caregiver in theo Inform the medical staff or caregiver in the

emergency situations

What does a smart map look like?http://www.youtube.com/watch?v=eZlrrA9bsvg&feature=related


Many elderly people that are destined to use a lk ff f l l h l hwalker, can suffer from multiple health issues

Most of the walkers on literature are multifunctionalMost of the walkers on literature are multifunctional


The Personal Adaptive Mobilit Aid (PAM AID)Mobility Aid (PAM-AID)

Designed for people with mobility problem and visualmobility problem and visual impairments, focus is:

The user has to have the l f h d imax control of the device

o It doesn’t have motorized locomotion

o The electronic system only controls the orientation of the front wheelsfront wheels


Info about the environment d d h f fis provided in the form of

two types of voice message to the userto the usero Description of the

environmento Presence of obstacles


First commercialized version of PAM-AIDThe Department of Veterans Affairs (USA)

customized and renamed it to Veterans Affairs Personal Adapti e Mobilit Aid (VA PAMAID)Personal Adaptive Mobility Aid (VA-PAMAID).


Second commercialized fversion of PAM-AID

Map navigationTh hi d d fThe third mode of operation is introducedo Parked modeo Parked modeo Assist the transfer of the user

from a chair


PAMM = Personal Aid b l dMobility and Monitoring

Offers extra support withH lth it io Health monitoring

o Scheduling(reminding time of(reminding time of medicines)


Using various health monitoring sensors, it is able to monitor the user’s activity levelactivity levelo Speedo Applied forcesppo Pulse rate


Mobil Smart Walker The Medical Automation Research Center (MARC)Research Center (MARC)

Assistive Mobility Devices Augmentative Devices Standard Walkers Problems/Solutions Smart Walkers Literature Review LimitationsLiterature Review Limitations.

Walkers (even better if smart !) can useWalkers (even better if smart !) can use person’s remaining locomotion capability, avoiding the early and deteriorative use of g ywheelchairs.

A. Frizera, R. Ceres, J. L. Pons , A. Abellanas, R. Raya, “The Smart Walkers as Geriatric Assistive Device The SIMBIOSIS Purpose” TheWalkers as Geriatric Assistive Device. The SIMBIOSIS Purpose . The 6th Conference of the International Society for Gerontechnology -ISG08, 2008

M. Spenko, H. Yu, and S. Dubowsky, “Robotic personal aids for p , , y, pmobility and monitoring for the elderly”, in IEEE Transactions on Neural systems and Rehabilitation Engineering,14(3), pp. 344–351.

G. Lacey, S. M. Namara, and K. M. Dawson-Howe., “Personal adaptive mobility aid for the infirm and elderly blind,” Lecture Notes in Computer Science, 1458:211 – 220, 1998.

D. Rodriguez-Losada, F. Matia, A. Jimenez, R. Galan, and G. Lacey, “I l ti b d i ti i GUIDO th b ti“Implementing map based navigation in GUIDO, the robotic SmartWalker,” in IEEE International Conference on Robotics and Automation - ICRA ’05, pp. 3390 – 3395, April 2005.

Mobil PAM-AID VA-PAMAID GUIDO PAMM

Ground contact configuration

3-4 wheeled

3-4wheeled

3-4 wheeled 3-4 wheeled 3-4 wheeled

Support for users with

visual impairments

Y Y Y Y Y

Parked mode N N N Y NParked mode N N N Y N

Health monitoring

N N N N Y

Forearm Y N N N NForearm support

Y N N N N

Human-machine interface (-)o How practical are advanced interfaces ?o Trainingo False positive/negativeo False positive/negative

How costly are these devices(?)

The focus needs to be changed on human h f h hmachine interface, rather than ...

SIMBIOSIS walkerTh i f i i t f ( )o The main focus is on interface (++)

o Forearm support platform (+)o …o …

Of the functions discussed for smart walkers, h h h lwhich are the most practical?

Wh h i l li i i ?What are the potential limitations?

C ld ( b ti ) t lk b t dCould (robotic) smart walkers be accepted as companions for older adults? What would need to be added/changed for acceptance?to be added/changed for acceptance?

Thank You!Thank You!Questions?

ehsan nazerfard nazerfard@eecs wsu …eecs.wsu.edu/~nazerfard/presentation/gt10.pdf · opid...

Documents