Stable Control Gait Planning Strategy for A Rehabilitation Exoskeleton Robot

Guo, Ziming; Wang, Can; Yan, Zefeng; Zhang, Lufeng; Ma, Xunju; Wang, Xinyu

doi:10.1109/icma.2019.8816513

Cited by 9 publications

(9 citation statements)

References 15 publications

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“…The crossing point, named the CP, refers to a virtual point between the hip line L h and the ankle line L a , with each line connected to left and right, respectively, with respect to the hip joints and ankle joints, as written in (8). The estimation of CP is described on an xy-plane, only, based on the intersection between L h and L a as given by (9), although L h and L a are mostly in a skew position in space.…”

Section: Proposed Cpmentioning

confidence: 99%

“…In (8), H r(l) indicates the joint position of the right(left) hip, and A r(l) indicates the joint position of the right(left) ankle. Figure 2 displays the potential area in which CP might be, depending on the displacement of H r(l) and A r(l) and the expected direction of CP's route.…”

Section: Proposed Cpmentioning

confidence: 99%

“…The mentioned indices are extremely important as individual walking features, but one index alone is not enough to judge personal walking. Therefore, many researchers have studied the use of one or more indices for the analysis of human walking [2][3][4][5][6][7][8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

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An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

Kim

Murakami

2020

Applied Sciences

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The parameters of walking have been studied from the viewpoints of joint rotation and translation of body. The balance and symmetry of walking are indispensable features to understand for healthy walking, while also being a personal characteristic. However, quantification has not been easy to carry out in the case of the conventional gait parameters COG (center of gravity) and ZMP (zero moment point). In this approach, the CP (crossing point) is proposed to quantify the concept of symmetry and balance by comparing it to the COG and ZMP. The CP is estimated based on the intersection between the hip line and the ankle line. While the hip line is fixed on the upper body where the COG is, the ankle line is altered depending on the each footfall, where the ZMP is. Therefore, the values of COG, ZMP, and CP have similar or different tendencies in terms of whether balanced walking results in symmetry or not. The validity of this is verified by carrying out a simulation with robot walking, and an experiment using human walking. Through additional experiments, it was noticed that the CP was able to improve the role of COG and ZMP in terms of not only stability, but also its relationship with the movement range of the lower limbs.

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Section: Proposed Cpmentioning

confidence: 99%

Section: Proposed Cpmentioning

confidence: 99%

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An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

Kim

Murakami

2020

Applied Sciences

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“…However, the relationships between the controls of these parameters are not well understood in the pathological cases such as incomplete and complete spinal cord injury or stroke populations. Sometimes, the trajectory of the foot is considered as a sinusoidal function [31] or to follow a linear regression models based [32••]. When intersegmental angles (i.e., between the thigh and shank) produced by the exoskeleton are not congruent with those typical of the users' individual anatomical angles, movement perturbations can cause large variations in joint torques and impede fluent gait cycles.…”

Section: Increasing Walking Speedsmentioning

confidence: 99%

“…To be stable, at least three points are necessary for the support polygon of the crutch controlled by the U/E and by both feet. If The ZMP stays within this area, the system is considered dynamically stable [31]. There are numerous ways to generate joint trajectories that achieve a dynamically stable gait.…”

Section: Governing Dynamic Standing Balancementioning

confidence: 99%

Wearable Robotic Exoskeletons for Overground Walking in Rehabilitation: Specific Contexts of Use and Improvement Opportunities

Gagnon

Aïssaoui

2020

Curr Robot Rep

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Purpose of Review Within the clinical rehabilitation settings, wearable robotic exoskeletons (WREs) can be used as a dynamic walking orthosis, for a neurorehabilitation intervention, as well as a for physical activity adaptation. The purpose of this commentary is to describe and comment on these issues. Recent Findings There are important links between the use of WRE for clinical setting intervention and the technical aspect, which are related to define a specific walking speed and designing a dynamic stable user-WRE couple. There is still difficulty to allow the user to choose the walking speed so that the WRE adapts to it. Moreover, the stability of walking with the WRE without using a walker or crutches is still challenging problem. Summary The enhancement of these two technical aspects (i.e., walking speed and dynamic stability) will help in the future to design exoskeleton with increased functionalities such as walking along a curved path and making turns, walking over uneven or rough terrains (e.g., slopes), and ascending and descending stairs. Keywords Dynamic stability. Sensorimotor impairments. Walking speed. Wearable exoskeleton This article is part of the Topical Collection on Rehabilitation and Assistive Robotics

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Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

Kou,

Wang,

Chen

et al. 2024

Sci. China Technol. Sci.

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Stable Control Gait Planning Strategy for A Rehabilitation Exoskeleton Robot

Cited by 9 publications

References 15 publications

An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

Wearable Robotic Exoskeletons for Overground Walking in Rehabilitation: Specific Contexts of Use and Improvement Opportunities

Flexible assistance strategy of lower limb rehabilitation exoskeleton based on admittance model

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