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Development of a Wearable Device based on Reaction Wheels to deliver Kinesthetic Cues for Balance Training

机译:基于反应轮的可穿戴装置的开发,为平衡训练提供动力学线索

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摘要

Reaction Wheels (RW) have traditionally been used in spacecraft to control their attitude. This paper presents a novel application of RW to deliver kinesthetic cues for balance training through the development of a wearable device that can deliver kinesthetic cues alike light touch. A prototype wearable device has been designed that has 4 RWs as main actuators to generate kinesthetic cues, and additionally the system includes a wireless interface to a computer for evaluation purposes. Two modes of controlling the device output were implemented, PID and Saturated PID (S.PID). For experimental verification, seven young healthy participants performed several balance tasks. The results thus obtained indicate significant (P<0.05) difference in participant's Mediolateral (ML) trunk sway between experiments conducted without and with kinesthetic cues, and differences in ML trunk sway between PID and S.PID control modes. Thus the relatively small torques delivered by RWs of the proposed device can provide kinesthetic cues for balance assistance.
机译:传统上用于宇宙飞船的反应轮(RW)以控制其态度。本文介绍了RW的新应用,以通过开发可穿戴设备来提供平衡训练的动力学线索,该装置可以提供Kinesthetic提示。设计了一种原型可穿戴设备,其具有4个RW,作为主致动器以产生动力学提示,另外该系统包括用于计算机的无线接口,用于评估目的。实现了两种控制设备输出的模式,PID和饱和PID(S.PID)。对于实验验证,七个年轻健康的参与者进行了几个平衡任务。由此获得的结果表明,参与者的MIDIOMATERAL(ML)躯干摇动的显着(P <0.05)差异,在没有动力学提示的实验之间,以及PID和S.PID控制模式之间的ML躯干摇摆的差异。因此,所提出的设备的RWS传递的相对小的扭矩可以为平衡辅助提供运动线索。

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