MOMENT ANALYSIS OF THE LOWER EXTREMITY IN LEVEL WALKING, ASCENDING AND DESCENDING STAIRS AND GOING- UP AND-DOWN A PLATFORM

This article proposes a novel type of series-parallel lower extremity exoskeleton driven by hydraulic actuators. Each leg of the exoskeleton has six DOFs, which can walk like human and carry heavy loads. A mapping from the positions of human lower extremity joints to the exoskeleton joints was established. Based on Kane's method, the inverse dynamic model of the exoskeleton was conducted. Finally, the exoskeleton humanoid gaits of level walking, ascent, descent, level walking with different loads and speed were simulated, and the required driving torques and power were obtained. These performance analyses provide a basis to the design of the control law and the estimation of the hydraulic actuator parameters for the exoskeleton.

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Bilateral lower extremity stiffness during transition from stair descent to level walking in unilateral total hip arthroplasty patients and controls

Gait & Posture ◽

10.1016/j.gaitpost.2013.07.088 ◽

2013 ◽

Vol 38 ◽

pp. S44-S45

Author(s):

Vassilios Vardaxis ◽

Laura Covill ◽

Leah Koepp ◽

John Nettrour ◽

Craig Mahoney

Keyword(s):

Total Hip Arthroplasty ◽

Lower Extremity ◽

Hip Arthroplasty ◽

Total Hip ◽

Bilateral Lower Extremity ◽

Stair Descent ◽

Level Walking

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Altered lower extremity biomechanics following anterior cruciate ligament reconstruction during single-leg and double-leg stop-jump tasks: A bilateral total support moment analysis

Clinical Biomechanics ◽

10.1016/j.clinbiomech.2021.105533 ◽

2021 ◽

pp. 105533

Author(s):

Willa Ma ◽

Cindy Y. Pan ◽

Lee H. Diehl ◽

Jocelyn R. Wittstein ◽

Jonathan C. Riboh ◽

...

Keyword(s):

Anterior Cruciate Ligament ◽

Lower Extremity ◽

Anterior Cruciate Ligament Reconstruction ◽

Ligament Reconstruction ◽

Cruciate Ligament ◽

Moment Analysis ◽

Cruciate Ligament Reconstruction ◽

Lower Extremity Biomechanics ◽

Anterior Cruciate

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Bio-inspired control research of a novel lower extremity exoskeleton with a series-parallel mechanism

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406214566036 ◽

2014 ◽

Vol 229 (16) ◽

pp. 2875-2889 ◽

Cited By ~ 1

Author(s):

Dalei Pan ◽

Feng Gao ◽

Yunjie Miao ◽

Rui Cao

Keyword(s):

Lower Extremity ◽

Control Strategy ◽

Pid Controller ◽

Parallel Mechanism ◽

Simulation Method ◽

Fuzzy Pid ◽

Precise Control ◽

Walking Gait ◽

Level Walking ◽

Control Research

This paper proposes a switch-type and parameter self-tuning fuzzy-PID/PID controller for a novel lower extremity exoskeleton with a series-parallel mechanism according to the features of human level walking gait. The novel exoskeleton mechanism was described, the biological characteristics of human legs during the walking cycle were analyzed and a mapping from the positions of human lower extremity joints to the exoskeleton joints was established. Then the schematic of the exoskeleton control strategy was discussed and illustrated. The co-simulation method of ADAMS and MATLAB/SIMULINK was adopted and the fuzzy-PID/PID controller was designed. A 1-DOF rotation control was simulated by both the fuzzy-PID/PID controller and a conventional PID controller for comparison. Finally, the exoskeleton level walking gait was co-simulated by using the bio-inspired control strategy. The results show that the controller can provide a fast, stable and precise control for the exoskeleton system.

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