Dynamic Balance Gait for Walking Assistance Exoskeleton
Joint Authors
Chen, Qiming
Cheng, Hong
Yue, Chunfeng
Huang, Rui
Guo, Hongliang
Source
Applied Bionics and Biomechanics
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-02
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
Purpose.
Powered lower-limb exoskeleton has gained considerable interests, since it can help patients with spinal cord injury(SCI) to stand and walk again.
Providing walking assistance with SCI patients, most exoskeletons are designed to follow predefined gait trajectories, which makes the patient walk unnaturally and feels uncomfortable.
Furthermore, exoskeletons with predefined gait trajectories cannot always maintain balance walking especially when encountering disturbances.
Design/Methodology/Approach.
This paper proposed a novel gait planning approach, which aims to provide reliable and balance gait during walking assistance.
In this approach, we model the exoskeleton and patient together as a linear inverted pendulum (LIP) and obtain the patients intention through orbital energy diagram.
To achieve dynamic gait planning of exoskeleton, the dynamic movement primitive (DMP) is utilized to model the gait trajectory.
Meanwhile, the parameters of DMP are updated dynamically during one step, which aims to improve the ability of counteracting external disturbance.
Findings.
The proposed approach is validated in a human-exoskeleton simulation platform, and the experimental results show the effectiveness and advantages of the proposed approach.
Originality/Value.
We decomposed the issue of obtain dynamic balance gait into three parts: (1) based on the sensory information of exoskeleton, the intention estimator is designed to estimate the intention of taking a step; (2) at the beginning of each step, the discrete gait planner utilized the obtained gait parameters such as step length S and step duration T and generate the trajectory of swing foot based on S,T; (3) during walking process, continuous gait regulator is utilized to adjust the gait generated by discrete gait planner to counteract disturbance.
American Psychological Association (APA)
Chen, Qiming& Cheng, Hong& Yue, Chunfeng& Huang, Rui& Guo, Hongliang. 2018. Dynamic Balance Gait for Walking Assistance Exoskeleton. Applied Bionics and Biomechanics،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1114760
Modern Language Association (MLA)
Chen, Qiming…[et al.]. Dynamic Balance Gait for Walking Assistance Exoskeleton. Applied Bionics and Biomechanics No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1114760
American Medical Association (AMA)
Chen, Qiming& Cheng, Hong& Yue, Chunfeng& Huang, Rui& Guo, Hongliang. Dynamic Balance Gait for Walking Assistance Exoskeleton. Applied Bionics and Biomechanics. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1114760
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1114760