Human Gait Trajectory Learning Using Online Gaussian Process for Assistive Lower Limb Exoskeleton

2016 ◽  
pp. 165-179 ◽  
Author(s):  
Yi Long ◽  
Zhi-jiang Du ◽  
Wei Dong ◽  
Wei-dong Wang
Keyword(s):  
Gaussian Process ◽  
Lower Limb ◽  
Human Gait ◽  
Lower Limb Exoskeleton ◽  
Trajectory Learning

scholarly journals Design on electrohydraulic servo driving system with walking assisting control for lower limb exoskeleton robot

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199228
Author(s):  
Buyun Wang ◽  
Yi Liang ◽  
Dezhang Xu ◽  
Zhihong Wang ◽  
Jing Ji
Keyword(s):  
Pid Control ◽  
Lower Limb ◽  
Control Method ◽  
Human Gait ◽  
Tracking Accuracy ◽  
Driving System ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Pressure Compensation ◽  
Power Assistance

According to the characteristics of human gait and the requirements of power assistance, locomotive mechanisms and electrohydraulic servo driving are designed on a lower limb exoskeleton robot, in which the miniaturization and lightweight of driving system are realized. The kinematics of the robot is analyzed and verified via the typical movements of the exoskeleton. In this article, the simulation on the power of joints during level walking was analyzed in ADAMS 2016, which is a multibody simulation and motion analysis software. Motion ranges and driving strokes are then optimized. A proportional integral derivative (PID) control method with error estimation and pressure compensation is proposed to satisfy the requirements of joints power assistance and comply with the motion of human lower limb. The proposed method is implemented into the exoskeleton for assisted walking and is verified by experimental results. Finally, experiments show that the tracking accuracy and power-assisted performance of exoskeleton robot joints are improved.

Initial Results of Lower Limb Exoskeleton Therapy with Human Gait Analysis for a Paraplegic Patient

2021 ◽  
pp. 151-157
Author(s):  
Luca Toth ◽  
Adam Schiffer ◽  
Veronika Pinczker ◽  
Peter Muller ◽  
Andras Buki ◽  
...  
Keyword(s):  
Gait Analysis ◽  
Lower Limb ◽  
Human Gait ◽  
Lower Limb Exoskeleton ◽  
Human Gait Analysis ◽  
Paraplegic Patient ◽  
Initial Results

scholarly journals ALICE: Conceptual Development of a Lower Limb Exoskeleton Robot Driven by an On-Board Musculoskeletal Simulator

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 789 ◽  
Author(s):  
Manuel Cardona ◽  
Cecilia E. García Cena ◽  
Fernando Serrano ◽  
Roque Saltaren
Keyword(s):  
Lower Limb ◽  
Conceptual Development ◽  
Human Gait ◽  
Lower Limb Exoskeleton ◽  
Gait Parameters ◽  
Measurement Units ◽  
Mechanical Sensor ◽  
Wearable Exoskeleton ◽  
Novel Concept ◽  
Real Time Information

Objective: In this article, we present the conceptual development of a robotics platform, called ALICE (Assistive Lower Limb Controlled Exoskeleton), for kinetic and kinematic gait characterization. The ALICE platform includes a robotics wearable exoskeleton and an on-board muscle driven simulator to estimate the user’s kinetic parameters. Background: Even when the kinematics patterns of the human gait are well studied and reported in the literature, there exists a considerable intra-subject variability in the kinetics of the movements. ALICE aims to be an advanced mechanical sensor that allows us to compute real-time information of both kinetic and kinematic data, opening up a new personalized rehabilitation concept. Methodology: We developed a full muscle driven simulator in an open source environment and validated it with real gait data obtained from patients diagnosed with multiple sclerosis. After that, we designed, modeled, and controlled a 6 DoF lower limb exoskeleton with inertial measurement units and a position/velocity sensor in each actuator. Significance: This novel concept aims to become a tool for improving the diagnosis of pathological gait and to design personalized robotics rehabilitation therapies. Conclusion: ALICE is the first robotics platform automatically adapted to the kinetic and kinematic gait parameters of each patient.

Design of a biologically inspired lower limb exoskeleton for human gait rehabilitation

2016 ◽  
Vol 87 (10) ◽  
pp. 104301 ◽  
Author(s):  
Mingxing Lyu ◽  
Weihai Chen ◽  
Xilun Ding ◽  
Jianhua Wang ◽  
Shaoping Bai ◽  
...  
Keyword(s):  
Lower Limb ◽  
Human Gait ◽  
Gait Rehabilitation ◽  
Biologically Inspired ◽  
Lower Limb Exoskeleton

Gait Characteristics for a Lower Limb Exoskeleton Implementing the Precedence Walking Assistance Mechanism

2014 ◽  
Vol 627 ◽  
pp. 241-245
Author(s):  
Do Wan Cha ◽  
Kab Il Kim ◽  
Kyung Soo Kim ◽  
Bum Joo Lee ◽  
Soo Hyun Kim
Keyword(s):  
Lower Limb ◽  
Human Gait ◽  
Research Centre ◽  
Technology Research ◽  
Joint Torques ◽  
Initiation Phase ◽  
Lower Limb Exoskeleton ◽  
Gait Characteristics ◽  
Step Initiation ◽  
Step Velocity

In this paper, we analyse human gait patterns, including knee and hip joint torques and muscle activities, during step initiation phase and continuous walking phase. Additionally, we present a lower limb exoskeleton called the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) implementing a precedence walking assistance mechanism based on the gait characteristics. The operator equipped with the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) walks with a 15 kg load at 3.3 km/h step velocity.

A brain-controlled lower-limb exoskeleton for human gait training

2017 ◽  
Vol 88 (10) ◽  
pp. 104302 ◽  
Author(s):  
Dong Liu ◽  
Weihai Chen ◽  
Zhongcai Pei ◽  
Jianhua Wang
Keyword(s):  
Lower Limb ◽  
Gait Training ◽  
Human Gait ◽  
Lower Limb Exoskeleton

Analyzing Motor Primitives of Healthy Subjects Wearing a Lower Limb Exoskeleton

2017 ◽  
Author(s):  
Wilian dos Santos ◽  
Samuel Lourenco ◽  
Adriano Siqueira ◽  
Polyana Ferreira Nunes
Keyword(s):  
Lower Limb ◽  
Healthy Subjects ◽  
Motor Primitives ◽  
Lower Limb Exoskeleton

Impedance-based Backdrivability Recovery of a Lower-limb Exoskeleton for Knee Rehabilitation

2019 ◽  
Author(s):  
Miguel D. Sanchez Manchola ◽  
Luis J. Arciniegas Mayag ◽  
Marcela Munera ◽  
Carlos A. Cifuentes Garcia
Keyword(s):  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Knee Rehabilitation
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