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Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure

With the help of wearable robotics, the lower limb exoskeleton becomes a promising solution for spinal cord injury (SCI) patients to recover lower body locomotion ability. However, fewer exoskeleton gait planning methods can meet the needs of patient in real time, e.g., stride length or step width,...

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Autores principales: Yang, Wei, Zhang, Jiyu, Zhang, Sheng, Yang, Canjun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7766720/
https://www.ncbi.nlm.nih.gov/pubmed/33339443
http://dx.doi.org/10.3390/s20247216
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author Yang, Wei
Zhang, Jiyu
Zhang, Sheng
Yang, Canjun
author_facet Yang, Wei
Zhang, Jiyu
Zhang, Sheng
Yang, Canjun
author_sort Yang, Wei
collection PubMed
description With the help of wearable robotics, the lower limb exoskeleton becomes a promising solution for spinal cord injury (SCI) patients to recover lower body locomotion ability. However, fewer exoskeleton gait planning methods can meet the needs of patient in real time, e.g., stride length or step width, etc., which may lead to human-machine incoordination, limit comfort, and increase the risk of falling. This work presents a human-exoskeleton-crutch system with the center of pressure (CoP)-based gait planning method to enable the balance control during the exoskeleton-assisted walking with crutches. The CoP generated by crutches and human-machine feet makes it possible to obtain the overall stability conditions of the system in the process of exoskeleton-assisted quasi-static walking, and therefore, to determine the next stride length and ensure the balance of the next step. Thus, the exoskeleton gait is planned with the guidance of stride length. It is worth emphasizing that the nominal reference gait is adopted as a reference to ensure that the trajectory of the swing ankle mimics the reference one well. This gait planning method enables the patient to adaptively interact with the exoskeleton gait. The online gait planning walking tests with five healthy volunteers proved the method’s feasibility. Experimental results indicate that the algorithm can deal with the sensed signals and plan the landing point of the swing leg to ensure balanced and smooth walking. The results suggest that the method is an effective means to improve human–machine interaction. Additionally, it is meaningful for the further training of independent walking stability control in exoskeletons for SCI patients with less assistance of crutches.
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spelling pubmed-77667202020-12-28 Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure Yang, Wei Zhang, Jiyu Zhang, Sheng Yang, Canjun Sensors (Basel) Article With the help of wearable robotics, the lower limb exoskeleton becomes a promising solution for spinal cord injury (SCI) patients to recover lower body locomotion ability. However, fewer exoskeleton gait planning methods can meet the needs of patient in real time, e.g., stride length or step width, etc., which may lead to human-machine incoordination, limit comfort, and increase the risk of falling. This work presents a human-exoskeleton-crutch system with the center of pressure (CoP)-based gait planning method to enable the balance control during the exoskeleton-assisted walking with crutches. The CoP generated by crutches and human-machine feet makes it possible to obtain the overall stability conditions of the system in the process of exoskeleton-assisted quasi-static walking, and therefore, to determine the next stride length and ensure the balance of the next step. Thus, the exoskeleton gait is planned with the guidance of stride length. It is worth emphasizing that the nominal reference gait is adopted as a reference to ensure that the trajectory of the swing ankle mimics the reference one well. This gait planning method enables the patient to adaptively interact with the exoskeleton gait. The online gait planning walking tests with five healthy volunteers proved the method’s feasibility. Experimental results indicate that the algorithm can deal with the sensed signals and plan the landing point of the swing leg to ensure balanced and smooth walking. The results suggest that the method is an effective means to improve human–machine interaction. Additionally, it is meaningful for the further training of independent walking stability control in exoskeletons for SCI patients with less assistance of crutches. MDPI 2020-12-16 /pmc/articles/PMC7766720/ /pubmed/33339443 http://dx.doi.org/10.3390/s20247216 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yang, Wei
Zhang, Jiyu
Zhang, Sheng
Yang, Canjun
Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure
title Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure
title_full Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure
title_fullStr Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure
title_full_unstemmed Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure
title_short Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure
title_sort lower limb exoskeleton gait planning based on crutch and human-machine foot combined center of pressure
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7766720/
https://www.ncbi.nlm.nih.gov/pubmed/33339443
http://dx.doi.org/10.3390/s20247216
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