Improving Gait Balance of the Blind During Robot-Assisted Guidance by Providing Static External Reference

The gait of blind individuals is characterized by reduced gait stability and postural balance due to their limited sensory information. However, existing systems focus on guidance capability rather than improving gait stability and postural balance. Since static external references (SER), such as fixed handrails, can improve the gait balance of the blind, their functionality should be implemented during robot-assisted guidance. In this study, we focused on the proof-of-concept of whether the provision of SER during robot-assisted guidance based on a 3-degrees-of-freedom mobile manipulator, called the robotic haptic cane (RHC), enhances gait stability and postural balance in blind individuals. Accordingly, we conducted gait experiments with 20 blindfolded sighted participants and one blind participant. The experimental results from the blindfolded sighted participants indicate that gait stability (step width variability) and postural balance (mediolateral trunk tilt) are further decreased by walking faster with a blindfold. However, both gait stability and postural balance improved, especially at a faster speed, by using RHC. According to the experimental results of the blind participant, the preferred speed increased with the use of the RHC. In addition, gait stability and postural balance improved with RHC use regardless of speed. Thus, the RHC can enable blind individuals to walk more safely with enhanced gait stability and postural balance by providing SER during robot-assisted guidance.