2022, Volume 23, Issue 6
Frontiers of Information Technology & Electronic Engineering >> 2022, Volume 23, Issue 6 doi: 10.1631/FITEE.2000465
Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people
1.State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan430074, China;
2.Guangdong Sygole Intelligent Technology Co., Ltd., Dongguan523808, China; less
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Abstract
This paper presents a gait-synchronization system to help potential unilateral knee-injured people walk normally with a ed (LEE). This relieves the body weight loading on the knee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of walking. The gait-synchronization system is integrated with a designed to sense the motion/gait of the healthy leg. Guided by the measured joint-angle trajectories, the motorized hip joint lifts the links during walking and synchronizes the knee-injured gait with the healthy gait by a half-cycle delay. The effectiveness of the LEE is illustrated experimentally. We compare the measured joint-angle trajectories between the healthy and knee-injured legs, the simulated knee forces, and the human-exoskeleton interaction forces. The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined body-ed LEE and injured leg with that of the healthy leg.
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