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Gait pattern generation algorithm for lower-extremity rehabilitation-exoskeleton robot considering wearer's condition

Title
Gait pattern generation algorithm for lower-extremity rehabilitation-exoskeleton robot considering wearer's condition
Author
한재권
Keywords
Rehabilitation robot; Exoskeleton robot; Gait pattern generation
Issue Date
2021-02
Publisher
SPRINGER HEIDELBERG
Citation
INTELLIGENT SERVICE ROBOTICS, v. 14, NO 3, Page. 345-355
Abstract
Various exoskeleton robots are being developed according to users’ conditions. Lower limb exoskeleton robots have attracted much attention for performing walking motions, a basic exercise for paralyzed patients. In this study, the walking environment of an exoskeleton robot wearer who walks using a crutch is identifed as the foot position of the crutch support point and the support leg; therefore, the upcoming foothold location is calculated and sets as a control target. Rather than using preset pedestrian patterns, pedestrian patterns that can match the environment are created using the dynamic movement primitives machine learning technology. We evaluated the exoskeleton robot through an experiment with a healthy 29-year-old male. The experimental results showed that the exoskeleton robot was able to demonstrate the adaptive strides according to the wearer’s intention.
URI
https://link.springer.com/article/10.1007/s11370-020-00346-3https://repository.hanyang.ac.kr/handle/20.500.11754/171893
ISSN
18612776; 18612784
DOI
10.1007/s11370-020-00346-3
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ETC
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