Dynamic Balance Gait for Walking Assistance Exoskeleton
Purpose. Powered lower-limb exoskeleton has gained considerable interests, since it can help patients with spinal cord injury(SCI) to stand and walk again. Providing walking assistance with SCI patients, most exoskeletons are designed to follow predefined gait trajectories, which makes the patient w...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
|
| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2018/7847014 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850176251154661376 |
|---|---|
| author | Qiming Chen Hong Cheng Chunfeng Yue Rui Huang Hongliang Guo |
| author_facet | Qiming Chen Hong Cheng Chunfeng Yue Rui Huang Hongliang Guo |
| author_sort | Qiming Chen |
| collection | DOAJ |
| description | Purpose. Powered lower-limb exoskeleton has gained considerable interests, since it can help patients with spinal cord injury(SCI) to stand and walk again. Providing walking assistance with SCI patients, most exoskeletons are designed to follow predefined gait trajectories, which makes the patient walk unnaturally and feels uncomfortable. Furthermore, exoskeletons with predefined gait trajectories cannot always maintain balance walking especially when encountering disturbances. Design/Methodology/Approach. This paper proposed a novel gait planning approach, which aims to provide reliable and balance gait during walking assistance. In this approach, we model the exoskeleton and patient together as a linear inverted pendulum (LIP) and obtain the patients intention through orbital energy diagram. To achieve dynamic gait planning of exoskeleton, the dynamic movement primitive (DMP) is utilized to model the gait trajectory. Meanwhile, the parameters of DMP are updated dynamically during one step, which aims to improve the ability of counteracting external disturbance. Findings. The proposed approach is validated in a human-exoskeleton simulation platform, and the experimental results show the effectiveness and advantages of the proposed approach. Originality/Value. We decomposed the issue of obtain dynamic balance gait into three parts: (1) based on the sensory information of exoskeleton, the intention estimator is designed to estimate the intention of taking a step; (2) at the beginning of each step, the discrete gait planner utilized the obtained gait parameters such as step length S and step duration T and generate the trajectory of swing foot based on S,T; (3) during walking process, continuous gait regulator is utilized to adjust the gait generated by discrete gait planner to counteract disturbance. |
| format | Article |
| id | doaj-art-b7851db3d21241a08c26e1a3791b3b51 |
| institution | OA Journals |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-b7851db3d21241a08c26e1a3791b3b512025-08-20T02:19:18ZengWileyApplied Bionics and Biomechanics1176-23221754-21032018-01-01201810.1155/2018/78470147847014Dynamic Balance Gait for Walking Assistance ExoskeletonQiming Chen0Hong Cheng1Chunfeng Yue2Rui Huang3Hongliang Guo4Center for Robotics, School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaCenter for Robotics, School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaCenter for Robotics, School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaCenter for Robotics, School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaCenter for Robotics, School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, ChinaPurpose. Powered lower-limb exoskeleton has gained considerable interests, since it can help patients with spinal cord injury(SCI) to stand and walk again. Providing walking assistance with SCI patients, most exoskeletons are designed to follow predefined gait trajectories, which makes the patient walk unnaturally and feels uncomfortable. Furthermore, exoskeletons with predefined gait trajectories cannot always maintain balance walking especially when encountering disturbances. Design/Methodology/Approach. This paper proposed a novel gait planning approach, which aims to provide reliable and balance gait during walking assistance. In this approach, we model the exoskeleton and patient together as a linear inverted pendulum (LIP) and obtain the patients intention through orbital energy diagram. To achieve dynamic gait planning of exoskeleton, the dynamic movement primitive (DMP) is utilized to model the gait trajectory. Meanwhile, the parameters of DMP are updated dynamically during one step, which aims to improve the ability of counteracting external disturbance. Findings. The proposed approach is validated in a human-exoskeleton simulation platform, and the experimental results show the effectiveness and advantages of the proposed approach. Originality/Value. We decomposed the issue of obtain dynamic balance gait into three parts: (1) based on the sensory information of exoskeleton, the intention estimator is designed to estimate the intention of taking a step; (2) at the beginning of each step, the discrete gait planner utilized the obtained gait parameters such as step length S and step duration T and generate the trajectory of swing foot based on S,T; (3) during walking process, continuous gait regulator is utilized to adjust the gait generated by discrete gait planner to counteract disturbance.http://dx.doi.org/10.1155/2018/7847014 |
| spellingShingle | Qiming Chen Hong Cheng Chunfeng Yue Rui Huang Hongliang Guo Dynamic Balance Gait for Walking Assistance Exoskeleton Applied Bionics and Biomechanics |
| title | Dynamic Balance Gait for Walking Assistance Exoskeleton |
| title_full | Dynamic Balance Gait for Walking Assistance Exoskeleton |
| title_fullStr | Dynamic Balance Gait for Walking Assistance Exoskeleton |
| title_full_unstemmed | Dynamic Balance Gait for Walking Assistance Exoskeleton |
| title_short | Dynamic Balance Gait for Walking Assistance Exoskeleton |
| title_sort | dynamic balance gait for walking assistance exoskeleton |
| url | http://dx.doi.org/10.1155/2018/7847014 |
| work_keys_str_mv | AT qimingchen dynamicbalancegaitforwalkingassistanceexoskeleton AT hongcheng dynamicbalancegaitforwalkingassistanceexoskeleton AT chunfengyue dynamicbalancegaitforwalkingassistanceexoskeleton AT ruihuang dynamicbalancegaitforwalkingassistanceexoskeleton AT hongliangguo dynamicbalancegaitforwalkingassistanceexoskeleton |