Upper Extremity Load Reduction for Lower Limb Exoskeleton Trajectory Generation Using Ankle Torque Minimization
| Autor: | Ling Shi, Kam Fai Elvis Tsang, Yawen Chen, Yik Ben Wong, Winnie Suk Wai Leung |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science 02 engineering and technology Exoskeleton Mechanism (engineering) 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Gait (human) Control theory Trajectory Torque Ground reaction force Reduction (mathematics) 030217 neurology & neurosurgery Balance (ability) |
| Zdroj: | ICARCV |
| DOI: | 10.1109/icarcv50220.2020.9305430 |
| Popis: | Recently, the lower limb exoskeletons which provide mobility for paraplegic patients to support their daily life have drawn much attention. However, the pilots are required to apply excessive force through a pair of crutches to maintain balance during walking. This paper proposes a novel gait trajectory generation algorithm for exoskeleton locomotion on flat ground and stair which aims to minimize the force applied by the pilot without increasing the degree of freedom (DoF) of the system. First, the system is modelled as a five-link mechanism dynamically for torque computing. Then, an optimization approach is used to generate the trajectory minimizing the ankle torque which is correlated to the supporting force. Finally, experiment is conducted to compare the different gait generation algorithms through measurement of ground reaction force (GRF) applied on the crutches. |
| Databáze: | OpenAIRE |
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