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Generation of a gait pattern for a lower limb rehabilitation exoskeleton
Mechanics Based Design of Structures and Machines ( IF 2.9 ) Pub Date : 2020-12-18 , DOI: 10.1080/15397734.2020.1858868
Olga Jarzyna 1 , Dariusz Grzelczyk 1 , Bartosz Stańczyk 1 , Jan Awrejcewicz 1
Affiliation  

Abstract

In this article, a simple prototype and control system of a lower limb exoskeleton driven by stepper motors was proposed. To study kinematic parameters of the device, a general, three-dimensional simulation model of the exoskeleton was developed. Moreover, a gait pattern was modeled for hip, knee, and ankle joints. It represents sagittal plane angular positions of joints during normal gait and consists of three piecewise-defined sine-square-based functions. It is based on the experimental gait data recorded with an optoelectronic motion capture system for a healthy subject walking on a treadmill. Although the developed pattern is intended to be implemented in a control system of a lower limb exoskeleton for gait rehabilitation, it can be used to control bipedal robots as well. Last but not least, the control approach was tested with the exoskeleton prototype.



中文翻译:

生成下肢康复外骨骼的步态模式

摘要

在本文中,提出了一种由步进电机驱动的下肢外骨骼的简单原型和控制系统。为了研究设备的运动学参数,开发了外骨骼的通用三维仿真模型。此外,还为髋关节、膝关节和踝关节建模了步态模式。它表示正常步态期间关节的矢状面角度位置,由三个分段定义的基于正弦平方的函数组成。它基于使用光电运动捕捉系统记录的实验步态数据,用于在跑步机上行走的健康受试者。虽然开发的模式旨在用于步态康复的下肢外骨骼的控制系统,但它也可用于控制双足机器人。最后但并非最不重要的,

更新日期:2020-12-18
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