Abstract
In order to meet requirements of diverse activities of exoskeleton robot in practical application, a dynamic motion planning system is proposed using a fast parameterized gait planning method in this article. This method can plan the required gait data by adaptively adjusting very few parameters according to different application requirements. The inverted pendulum model is used to ensure the sagittal stability of the robot in the planning process. And this article specifies the end location of robot and iterates the associated joint angles by inverse kinematics. The gait trajectories generated by the proposed method are applied to the lightweight lower-limb exoskeleton robot. The results demonstrate that the trajectories of gait can be online generated smoothly and correctly, meanwhile every variable step can be satisfied as expected.
Highlights
Walking is a very common and simple thing for a healthy person, but it is a very difficult but eager thing for a person who is incapacitated by spinal injury for various reasons
(3) Each gait pattern is parameterized so that the gait planning process can be optimized according to some specific requirements
A fast parameterized gait planning method based on the inverted pendulum model is proposed
Summary
Walking is a very common and simple thing for a healthy person, but it is a very difficult but eager thing for a person who is incapacitated by spinal injury for various reasons. Numerous people are disabled due to illness, trauma, stroke, and other reasons every year. Such people can rely on wheelchairs for activities, there are many limitations and shortcomings in using wheelchairs. Their activities are limited by terrain, they cannot cope with stairs, and long-term dependence on wheelchairs can lead to hemorrhoids and further muscle atrophy.[1] So exoskeleton robots based on biped robots emerged to solve these problems. With the development of robotics, especially biped robots, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China 5 Otolaryngology Research Institute, Shanghai Jiao Tong University Affiliated Sixth People’s Hospital, Shanghai, China
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