Consideration of Assistive Devices in the Gait Analysis of Spinal Cord–Injured Subjects

Abstract

The

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

“…The advantage of a PD controller is that it can reach a target angle within the degrees of compliance necessary to ensure safety. At the same time, there are a few articles that mention using a proportional-integral-derivative (PID) controller [55], [34] and a proportional controller [36] to track preset trajectories.…”

“…For safety reasons, the analysis and development of compliance controllers have become a particular focus of research. ATLAS [53]- [55] employs an active compliance controller that measures the force registered by the insoles. ALEX [14], [15] and C-ALEX [16] employ a force field controller (FFC) to facilitate neuromuscular plasticity and improve walking ability.…”

“…This method quantifies the walking characteristics and dynamic performance of an exoskeleton and uses DME to capture the relationship between the angular velocity and the line velocity of the robot's links. Sanz-Merodio et al's [53]- [55] ATLAS robot was developed to enable quadriplegic children to walk. ATLAS employs a parameter-based method to generate reference joint trajectories.…”

“…The Mina [53], [54] uses a musical instrument digital interface (MIDI) to adjust the recorded walking speed in a range of 50%-130%. In the exoskeleton robot designed by Lugris et al [55], the shape of a normal person's reference trajectory is scaled in time so that it can be adapted to a desired gait speed, like the Mina. Yang et al [56] employed an adaptive gait trajectory control strategy to eliminate asynchronization during the gait training of the LRER exoskeleton robot.…”

“…Index of articles Gait trajectory based [14], [15], [16], [17], [18]- [20], [21], [22], [23], [24], [25], [26], position assistance [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43]- [45], [46], [47], [48], [49], [50], [51], [52], [53], [54], [55], [56], [57], [58] Posture estimation based [59], [60], [61], [62], [63], [64], [65] position assistance I...…”