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Modeling and simulation of normal and hemiparetic gait
Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ
《机械工程前沿(英文)》 2015年 第10卷 第3期 页码 233-241 doi: 10.1007/s11465-015-0343-0
Gait is the collective term for the two types of bipedal locomotion, walking and running. This paper is focused on walking. The analysis of human gait is of interest to many different disciplines, including biomechanics, human-movement science, rehabilitation and medicine in general. Here we present a new model that is capable of reproducing the properties of walking, normal and pathological. The aim of this paper is to establish the biomechanical principles that underlie human walking by using Lagrange method. The constraint forces of Rayleigh dissipation function, through which to consider the effect on the tissues in the gait, are included. Depending on the value of the factor present in the Rayleigh dissipation function, both normal and pathological gait can be simulated. First of all, we apply it in the normal gait and then in the permanent hemiparetic gait. Anthropometric data of adult person are used by simulation, and it is possible to use anthropometric data for children but is necessary to consider existing table of anthropometric data. Validation of these models includes simulations of passive dynamic gait that walk on level ground. The dynamic walking approach provides a new perspective of gait analysis, focusing on the kinematics and kinetics of gait. There have been studies and simulations to show normal human gait, but few of them have focused on abnormal, especially hemiparetic gait. Quantitative comparisons of the model predictions with gait measurements show that the model can reproduce the significant characteristics of normal gait.
关键词: bipedal gait biomechanics dynamic walking gait model human gait hemiparetic human gait
An experimental analysis of human straight walking
Tao LI, Marco CECCARELLI
《机械工程前沿(英文)》 2013年 第8卷 第1期 页码 95-103 doi: 10.1007/s11465-013-0357-4
In this paper, an experimental analysis of human straight walking has been presented. Experiments on human walking were carried out by using Cassino tracking system which is a passive cable-based measuring system. This system is adopted because it is capable of both pose and wrench measurements with fairly simple monitoring of operation. By using experimental results, trajectories of a human limb extremity and its posture have been analyzed; forces that are exerted against cables by the limb of a person under test have been measured by force sensors as well. Furthermore, by using experimental tests, modeling and characterization of the human straight walking gait have been proposed.
关键词: human locomotion walking gait characterization humanoid robot biped robot
基于表面肌电信号的行走环境与步态周期识别 Special Feature on Intelligent Robats
Seulki KYEONG, Wonseok SHIN, Minjin YANG, Ung HEO, Ji-rou FENG, Jung KIM
《信息与电子工程前沿(英文)》 2019年 第20卷 第3期 页码 342-352 doi: 10.1631/FITEE.1800601
关键词: 行走环境;步态周期;表面肌电信号;外骨骼
美国国防部先进研究项目局举办的机器人大挑战赛的参与和崎岖地面行走的滑雪式步态 Article
王宏飞, 李诗濛, 郑元芳
《工程(英文)》 2015年 第1卷 第1期 页码 36-45 doi: 10.15302/J-ENG-2015006
本文简要介绍了美国国防部先进研究项目局举办的机器人大挑战赛的历史,并将关注的焦点放在了2012机器人挑战赛上。作为该挑战赛DRC-HUBO队的成员,我们为完成崎岖地面的任务提出了不同的方法,如增大脚踏板、转换成四足行走等。同时,本文还介绍了一种帮助提高仿人机器人运动稳定性的新步态——滑雪式步态。本文对该步态的稳定性进行了分析,并利用稳定度裕量从两种备选的步进顺序(爬行-1和爬行-2)中进行选择。接下来,本文对滑雪式步态中冗余的闭链系统进行力/力矩分析,通过最小化总耗能量来确定关节力矩。根据稳定性分析和力/力矩分析,我们设计了一种手杖长度,使其可以支撑HUBO2仿人机器人平台稳定地实现爬行-2步态。最后,通过将本文的试验结果和两足步行进行对比,验证了滑雪式步态的可行性。同时,介绍了我队在该机器人挑战赛上的表现。
Landing control method of a lightweight four-legged landing and walking robot
《机械工程前沿(英文)》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0707-1
关键词: landing and walking robot lunar exploration buffer landing compliance control
Footholds optimization for legged robots walking on complex terrain
《机械工程前沿(英文)》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0742-y
关键词: footholds optimization legged robot complex terrain adapting hexapod robot locomotion control
A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation
null
《机械工程前沿(英文)》 2016年 第11卷 第2期 页码 144-158 doi: 10.1007/s11465-016-0391-0
A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three-dimensional model is elaborated in SolidWorks® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.
关键词: feasibility study biped locomotor biped walking mechanical design dynamic simulation tripod leg mechanism 3-UPU parallel manipulator
Image-based fall detection and classification of a user with a walking support system
Sajjad TAGHVAEI, Kazuhiro KOSUGE
《机械工程前沿(英文)》 2018年 第13卷 第3期 页码 427-441 doi: 10.1007/s11465-017-0465-7
The classification of visual human action is important in the development of systems that interact with humans. This study investigates an image-based classification of the human state while using a walking support system to improve the safety and dependability of these systems. We categorize the possible human behavior while utilizing a walker robot into eight states (i.e., sitting, standing, walking, and five falling types), and propose two different methods, namely, normal distribution and hidden Markov models (HMMs), to detect and recognize these states. The visual feature for the state classification is the centroid position of the upper body, which is extracted from the user’s depth images. The first method shows that the centroid position follows a normal distribution while walking, which can be adopted to detect any non-walking state. The second method implements HMMs to detect and recognize these states. We then measure and compare the performance of both methods. The classification results are employed to control the motion of a passive-type walker (called “RT Walker”) by activating its brakes in non-walking states. Thus, the system can be used for sit/stand support and fall prevention. The experiments are performed with four subjects, including an experienced physiotherapist. Results show that the algorithm can be adapted to the new user’s motion pattern within 40 s, with a fall detection rate of 96.25% and state classification rate of 81.0%. The proposed method can be implemented to other abnormality detection/classification applications that employ depth image-sensing devices.
关键词: fall detection walking support hidden Markov model multivariate analysis
Harvesting biomechanical energy in the walking by shoe based on liquid metal magnetohydrodynamics
Dan DAI, Jing LIU, Yixin ZHOU
《能源前沿(英文)》 2012年 第6卷 第2期 页码 112-121 doi: 10.1007/s11708-012-0186-x
关键词: human energy harvesting liquid metal wearable magnetohydrodynamics generator parasitic power in shoe
A novel six-legged walking machine tool for
Jimu LIU, Yuan TIAN, Feng GAO
《机械工程前沿(英文)》 2020年 第15卷 第3期 页码 351-364 doi: 10.1007/s11465-020-0594-2
关键词: legged robot parallel mechanism mobile machine tool in-situ machining
Design of active orthoses for a robotic gait rehabilitation system
A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO
《机械工程前沿(英文)》 2015年 第10卷 第3期 页码 242-254 doi: 10.1007/s11465-015-0350-1
An active orthosis (AO) is a robotic device that assists both human gait and rehabilitation therapy. This work proposes portable AOs, one for the knee joint and another for the ankle joint. Both AOs will be used to complete a robotic system that improves gait rehabilitation. The requirements for actuator selection, the biomechanical considerations during the AO design, the finite element method, and a control approach based on electroencephalographic and surface electromyographic signals are reviewed. This work contributes to the design of AOs for users with foot drop and knee flexion impairment. However, the potential of the proposed AOs to be part of a robotic gait rehabilitation system that improves the quality of life of stroke survivors requires further investigation.
关键词: active orthosis gait rehabilitation electroencephalography surface electromyography
潜在用于单侧膝受伤患者的传感引导步态同步下肢外骨骼 Research Articles
王东海1,2
《信息与电子工程前沿(英文)》 2022年 第23卷 第6期 页码 920-936 doi: 10.1631/FITEE.2000465
本文展示了一种可潜在帮助单侧膝受伤患者正常行走的传感引导步态同步下肢外骨骼系统。外骨骼能够减轻人体体重对受伤膝下肢的负载,并维持与健康侧下肢行走步态摆动相同步。传感引导步态同步系统集成了人体传感网络,它能感知健康侧下肢的运动步态。基于测量的关节角度轨迹引导,安装电机的髋关节在行走中提起腿杆,并将膝受伤步态和健康步态以半周期延时进行同步。实验验证了下肢外骨骼的效果。本文比较了健康腿和膝受伤腿的测量关节角度轨迹、仿真的膝受力、人机交互力等方面,结果说明髋关节安装电机受控制的下肢外骨骼能够将受伤腿和体重支撑外骨骼的融合步态与健康腿步态进行同步。
步行激励下大跨度钢-混凝土空心板组合梁振动舒适度研究 Article
刘界鹏, 黄鉥, 李江, Y. Frank Chen
《工程(英文)》 2022年 第19卷 第12期 页码 93-104 doi: 10.1016/j.eng.2021.04.025
大跨度预制钢-混凝土空心板组合梁(CBHCS)是一种新型的楼板结构,可用于各种大跨度结构。然而,人为引起的振动会对此类结构的使用产生影响。为了减轻振动,需要探究由人引起的步行力与楼板状态之间的关系。本文首先使用测力板获取了25 名测试者的150 个步行力,确定了单步行走的傅里叶级数中的动态载荷系数和相位角。其次,对7 个CBHCS试样进行了行走测试,获取了模态振型、固有频率、阻尼比和加速度等基本动态特性。CBHCS楼板系统通常表现出高频(>10 Hz)和低阻尼(阻尼比低于2%)的特性。本文还使用有限元方法进行了灵敏度研究,以研究CBHCS楼板系统的振动性能,考虑了楼板厚度、
钢梁类型、接触时间和人体重量。最后,本文推导了基频和峰值加速度的解析表达式,与实验结果吻合较好,具有实际的应用价值。
月球车叶片伸缩式步行轮的力学分析和性能优化 Article
杨璐, 蔡博文, 张荣辉, 李克宁, 张子贤, 雷洁浩, 陈百超, 王荣本
《工程(英文)》 2020年 第6卷 第8期 页码 936-943 doi: 10.1016/j.eng.2020.07.009
在探月工程计划中,月球车的车轮系统是月球车总体设计系统的重要子系统之一。由于月表地形复杂,同时受限于月球车有限的空间,因此大大增加了车轮系统设计和优化工作的难度。本研究的主要目标是针对自主设计的月球车机械结构,建立一个原理型样机以对其性能进行优化。研究的主要工作包括:为应对月表复杂路况,提出了一种适配月球车正反四边形悬架的新型叶片伸缩式步行轮;以功耗最小化为目标,在保证障碍通过性的前提下,分析车轮运动过程中受力情况以实现对车轮的性能优化;最后,基于数字仿真和综合实验方法,验证了新型车轮系统在实际实验中可以达到按需伸缩叶片和节约能耗的效果。本文的研究成果为中国月球车的研究和开发提供了一种技术参考。
欠驱动3D双足机器人步态切换控制策略 Research Articles
Hai-hui YUAN, Yi-min GE, Chun-biao GAN
《信息与电子工程前沿(英文)》 2019年 第20卷 第8期 页码 1026-1035 doi: 10.1631/FITEE.1800206
标题 作者 时间 类型 操作
Modeling and simulation of normal and hemiparetic gait
Lely A. LUENGAS,Esperanza CAMARGO,Giovanni SANCHEZ
期刊论文
A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation
null
期刊论文
Image-based fall detection and classification of a user with a walking support system
Sajjad TAGHVAEI, Kazuhiro KOSUGE
期刊论文
Harvesting biomechanical energy in the walking by shoe based on liquid metal magnetohydrodynamics
Dan DAI, Jing LIU, Yixin ZHOU
期刊论文
Design of active orthoses for a robotic gait rehabilitation system
A. C. VILLA-PARRA,L. BROCHE,D. DELISLE-RODRÍGUEZ,R. SAGARÓ,T. BASTOS,A. FRIZERA-NETO
期刊论文