scholarly journals Study and implementation of a gait rehabilitation system with capability for mobility and gait pattern generation

2012 ◽  
Author(s):  
Hup Boon Lim
Keyword(s):  
Gait Pattern ◽  
Pattern Generation ◽  
Gait Rehabilitation ◽  
Rehabilitation System

Gait pattern generation for gait rehabilitation

2013 ◽  
Author(s):  
Kap-Ho Seo ◽  
Yongsik Park ◽  
Sungjo Yun ◽  
Sungho Park ◽  
Jungsoo Jun ◽  
...  
Keyword(s):  
Gait Pattern ◽  
Pattern Generation ◽  
Gait Rehabilitation

Motion control and coordination in the development of a conceptual gait rehabilitation system

2011 ◽  
Vol 226 (7) ◽  
pp. 1885-1895 ◽  
Author(s):  
Yazan A Manna ◽  
Fen Du ◽  
Zhiming Ji
Keyword(s):  
Motion Control ◽  
Gait Pattern ◽  
Knee Joints ◽  
Gait Rehabilitation ◽  
Motion Simulation ◽  
Linkage Mechanism ◽  
System A ◽  
Timing Mechanisms ◽  
Rehabilitation System ◽  
Control Purpose

A conceptual gait rehabilitation system was developed to generate the coordinated motion of the hip and knee joints according to normal physiological gait pattern with a pair of linkage mechanisms (one for each leg). This article presents the design of a mechanical timing mechanism for the motion control and coordination of the linkage mechanisms in the system. The desired motion of the input crank of the linkage mechanism is first obtained for the control purpose. To facilitate the implementation of different modes of operation of the gait rehabilitation system, a combination of cam and planetary gears is developed to achieve both timing and coordination through mechanical means. Motion simulation of the new timing mechanisms shows that the proper timing of the gait mechanisms, thus the hip and knee joints, is achieved with a constant speed input.

scholarly journals Effects of Torso Pitch Motion on Energy Efficiency of Biped Robot Walking

2021 ◽  
Vol 11 (5) ◽  
pp. 2342
Author(s):  
Long Li ◽  
Zhongqu Xie ◽  
Xiang Luo ◽  
Juanjuan Li
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Biped Robots ◽  
Pitch Motion ◽  
Double Support ◽  
Gait Parameters ◽  
Support Phase

Gait pattern generation has an important influence on the walking quality of biped robots. In most gait pattern generation methods, it is usually assumed that the torso keeps vertical during walking. It is very intuitive and simple. However, it may not be the most efficient. In this paper, we propose a gait pattern with torso pitch motion (TPM) during walking. We also present a gait pattern with torso keeping vertical (TKV) to study the effects of TPM on energy efficiency of biped robots. We define the cyclic gait of a five-link biped robot with several gait parameters. The gait parameters are determined by optimization. The optimization criterion is chosen to minimize the energy consumption per unit distance of the biped robot. Under this criterion, the optimal gait performances of TPM and TKV are compared over different step lengths and different gait periods. It is observed that (1) TPM saves more than 12% energy on average compared with TKV, and the main factor of energy-saving in TPM is the reduction of energy consumption of the swing knee in the double support phase and (2) the overall trend of torso motion is leaning forward in double support phase and leaning backward in single support phase, and the amplitude of the torso pitch motion increases as gait period or step length increases.

Gait Rehabilitation System based on Mixed Reality

2021 ◽  
Author(s):  
Teresa Vilar Paredes ◽  
Octavian Postolache ◽  
Joao Monge ◽  
Pedro Silva Girao
Keyword(s):  
Mixed Reality ◽  
Gait Rehabilitation ◽  
Rehabilitation System

Robotic gait rehabilitation system on treadmill

2014 ◽  
Author(s):  
Kap-Ho Seo ◽  
Yongsik Park ◽  
Sungjo Yun ◽  
Sungho Park ◽  
Kwang-Woo Jeon ◽  
...  
Keyword(s):  
Gait Rehabilitation ◽  
Rehabilitation System ◽  
Robotic Gait

scholarly journals Online Biped Walking Pattern Generation with Contact Consistency

2015 ◽  
Vol 4 (1) ◽  
pp. 19
Author(s):  
Wenqi Hou ◽  
Jian Wang ◽  
Jianwen Wang ◽  
Hongxu Ma
Keyword(s):  
Biped Robot ◽  
Gait Pattern ◽  
Pattern Generation ◽  
Task Space ◽  
Biped Walking ◽  
Foot Placement ◽  
Walking Gait ◽  
Walking Pattern ◽  
Generating Method ◽  
Stable Periodic

In this paper, a novel online biped walking gait pattern generating method with contact consistency is proposed. Generally, it’s desirable that there is no foot-ground slipping during biped walking. By treating the hip of the biped robot as a linear inverted pendulum (LIP), a foot placement controller that takes the contact consistency into account is proposed to tracking the desired orbit energy. By selecting the hip’s horizontal locomotion as the parameter, the trajectories in task space for walking are planned. A task space controller without calculating the inversion of inertial matrix is presented. Simulation experiments are implemented on a virtual 5-link point foot biped robot. The results show the effectiveness of the walking pattern generating method which can realize a stable periodic gait cycle without slipping and falling even suffering a sudden disturbance.

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