2016
DOI: 10.1016/j.ymssp.2015.07.010
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Slow walking model for children with multiple disabilities via an application of humanoid robot

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Cited by 15 publications
(4 citation statements)
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“…While walking, human legs can achieve extension and flexion movements around the coronal axis in the sagittal plane, abduction and adduction movements around the sagittal axis in the coronal plane, and external and internal rotation movements around the vertical axis in the transverse plane (S). [26,27] Therefore, with reference to the human motion mechanism, for the PBM to achieve basic human gait during motion, the mechanism must have at least three DOFs. To increase motion flexibility but not the redundant DOFs, we set the number of target DOF to four.…”
Section: Doi: 101002/aisy202300384mentioning
confidence: 99%
“…While walking, human legs can achieve extension and flexion movements around the coronal axis in the sagittal plane, abduction and adduction movements around the sagittal axis in the coronal plane, and external and internal rotation movements around the vertical axis in the transverse plane (S). [26,27] Therefore, with reference to the human motion mechanism, for the PBM to achieve basic human gait during motion, the mechanism must have at least three DOFs. To increase motion flexibility but not the redundant DOFs, we set the number of target DOF to four.…”
Section: Doi: 101002/aisy202300384mentioning
confidence: 99%
“…Robots are also used as walking assistants for children with multiple disabilities. For example, a humanoid robot that can demonstrates a specific way of walking slowly, suitable for the child (Wang et al, 2016).…”
Section: Related Workmentioning
confidence: 99%
“…Forward walking period can be divided into four phases [22] shown as in Figure 2. Dynamic model switch is used to describe different models in different phases.…”
Section: Mathematical Modelmentioning
confidence: 99%
“…In [18], the force-position control relies on the inputted force signal and a non-linear sliding mode control with exponential reaching law. Adaptive backstepping control based on fuzzy approximation makes it possible for exoskeleton to track the desired trajectory in presence of parametric uncertainties, unmodeled dynamics, and external disturbances [15,22]. However, most of the existing control strategies depend on the precise dynamical model.…”
Section: Introductionmentioning
confidence: 99%