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Analysis of Fall Accident Motion during Walking Using a Lower-Limb Exoskeleton Robot

Kazuo Kiguchi and Kazuma Noda
Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan

Abstract— Fall accident often results in a serious damage to physically weak persons such as elderly persons. It is important to understand the mechanisms of human fall accident motion and recovery motion to prevent the fall accident. In order to study those mechanisms, external disturbance force is given to a walking person using a lower-limb exoskeleton robot to generate the falling accident motion on purpose and analyze the recovery motion in this study. By applying the lower-limb exoskeleton robot, any disturbance force can be added at any timing to the person during walking. The results of this study are used to provide the fall prevention algorithm in the lower-limb power-assist exoskeleton robot. Furthermore, the results could be used for physical training for elderly persons to prevent falling accident.  
Index Terms— falling accident, fall prevention, trip recovery, walking, lower-limb exoskeleton, robots

Cite: Kazuo Kiguchi and Kazuma Noda, "Analysis of Fall Accident Motion during Walking Using a Lower-Limb Exoskeleton Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 8, pp. 1128-1133, August 2020. DOI: 10.18178/ijmerr.9.8.1128-1133