Frontiers of Information Technology & Electronic Engineering
>> 2019,
Volume 20,
Issue 10
doi:
10.1631/FITEE.1800777
Frontiers of Information Technology & Electronic Engineering
Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory
Affiliation(s): Zhejiang University Hospital, Hangzhou 310027, China; State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; less
Accepted: 2019-11-11
Available online: 2019-11-11
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Abstract
We study the balance problem caused by forward leaning of the wearer’s upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous is obtained by modeling the human-exoskeleton system and using the theory. By comparing the stability region with instantaneous s of different gait phases, the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases, a trajectory correction strategy is proposed for the instability of the human-exoskeleton system caused by forward leaning of the wearer’s upper body. Finally, the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University . The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally, in the process of the center of gravity transferred from a double-support phase to a single-support phase, the ratio of gait cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.
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