多様な障害物環境における環境認識と人間協調型の下肢義足スイング制御
Environment-Aware and Human-Cooperative Swing Control for Lower-Limb Prostheses in Diverse Obstacle Scenarios
搭載カメラで障害物を検知し、早期スイングで高さを確保しつつ後期スイングではユーザーの生体力学的意図に委ねる、下肢義足の新しい制御戦略を提案し、非切断者3名での実験で高い成功率を示した。
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著者: Haosen Xing, Haoran Ma, Sijin Zhang, Hartmut Geyer
分類: cs.RO, cs.HC
原文アブストラクト
Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a critical scenario exemplifying such challenges, requires both real-time perception of obstacle geometry and responsiveness to user intention about when and where to step over or onto, to dynamically adjust swing trajectories. We propose a novel control strategy that fuses environmental awareness and human cooperativeness: an on-board depth camera detects obstacles ahead of swing phase, prompting an elevated early-swing trajectory to ensure clearance, while late-swing control defers to natural biomechanical cues from the user. This approach enables intuitive stepping strategies without requiring unnatural movement patterns. Experiments with three non-amputee participants demonstrated 100 percent success across more than 150 step-overs and 30 step-ons with randomly placed obstacles of varying heights (4-16 cm) and distances (15-70 cm). By effectively addressing obstacle navigation -- a gateway challenge for complex terrain mobility -- our system demonstrates adaptability to both environmental constraints and user intentions, with promising applications across diverse locomotion scenarios.
