Research on the Walking Model of Lower-Limb Walking Assist Exoskeleton

HE Yu-yi, Li Pei-xing, YAN Wei-xin, ZHAO Yan-zheng

Control Engineering of China ›› 2019, Vol. 26 ›› Issue (10) : 1803-1809.

Control Engineering of China ›› 2019, Vol. 26 ›› Issue (10) : 1803-1809.

Research on the Walking Model of Lower-Limb Walking Assist Exoskeleton

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Abstract

The widely used method of gait planning for the lower-limb walking assist exoskeleton, based on the captured walking trajectories from the able-bodied people, has many disadvantages. A gait modeling method based on the kinematics and dynamics of the lower-limb walking assist exoskeleton is put forward. The motion curves of various time-varying parameters in the model for gait analysis are obtained, which provides theoretical basis for the autonomous gait planning when the walking parameters vary. The problem of parameter adaptability of the trajectory planning can be solved. The experimental results show that, this method aimed at satisfying the specific requirements of the lower-limb walking assist exoskeleton, can obtain the optimized parameters of different configurations, and plan the optimized walking motion of the exoskeleton.

Key words

Lower-limb exoskeleton / walking model / kinematics / dynamics

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HE Yu-yi, Li Pei-xing, YAN Wei-xin, ZHAO Yan-zheng. Research on the Walking Model of Lower-Limb Walking Assist Exoskeleton[J]. Control Engineering of China, 2019, 26(10): 1803-1809

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