Development of real-time gait phase detection system for a lower extremity exoskeleton robot
- Title
- Development of real-time gait phase detection system for a lower extremity exoskeleton robot
- Author
- 한창수
- Keywords
- Insole sensor; Vertical ground reaction force (vGRF); Lower extremity exoskeleton robot; Center of pressure (COP); Gait phase detection; SENSOR; BLEEX
- Issue Date
- 2017-05
- Publisher
- KOREAN SOC PRECISION ENG
- Citation
- INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 18, No. 5, Page. 681-687
- Abstract
- In this paper, we develop an insole sensor system that can determine various dynamic models of a lower extremity exoskeleton. The study analyzed the kinematic model of exoskeleton robot for lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF) that is generated when walking, the sensing type, location, and the number of sensors were selected to proceed on insole sensor development. Using the COP, an algorithm was developed that is capable of detecting gait phase with small number of sensors. An experiment was conducted to evaluate the developed insole sensor system and the gait phase detection algorithm.
- URI
- https://link.springer.com/article/10.1007/s12541-017-0081-9https://repository.hanyang.ac.kr/handle/20.500.11754/72091
- ISSN
- 2234-7593; 2005-4602; 1229-8557
- DOI
- 10.1007/s12541-017-0081-9
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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