Gait pattern generator for control of a lower limb exoskeleton

• Autorzy: Grzelczyk D. , Szymanowska O. , Awrejcewicz J.
• Języki publikacji: EN

Abstrakty

EN

The aim of the study was to propose a relatively simple central pattern generator (CPG) model, which can be used to control a lower limb exoskeleton. The mentioned generator and the simulation model of the human gait were developed based on experimental observations of the healthy volunteer's gait recorded using a motion tracking system. In order to reproduce the correct movements of the exoskeleton segments, time series of angles in the joints corresponding to the hip and knee joints were calculated based on tracing the trajectories generated by the CPG and the inverse kinematic relations. The proposed model can be implemented to control the lower limb (extremity) exoskeleton and assist various types of gait abnormality in patients with different motor dysfunction by means of changing the parameters of the control system. The presented experimental data, the developed gait simulation model, and the results of numerical simulations can be treated as guidelines for further improvement of the proposed model and its application in the exoskeleton control system. Although the study is mainly focused on rehabilitation applications, the proposed model is general and can be used also for other purposes such as control of bipedal and multi-legged robots.

Słowa kluczowe

EN

human gait; exoskeleton; central pattern generator

PL

chód człowieka; egzoszkielet; centralny generator wzorca

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2018
• Tom: Vol. 29
• Strony: art. no. 2018007
• Opis fizyczny: Bibliogr. 16 poz., il. kolor., 1 rys., wykr.

Twórcy

autor

Grzelczyk D.

• Lodz University of Technology, Department of Automation, Biomechanics and Mechatronics, 1/15 Stefanowskiego Str., 90-924 Lodz, Poland

autor

Szymanowska O.

• Lodz University of Technology, Department of Automation, Biomechanics and Mechatronics, 1/15 Stefanowskiego Str., 90-924 Lodz, Poland

autor

Awrejcewicz J.

• Lodz University of Technology, Department of Automation, Biomechanics and Mechatronics, 1/15 Stefanowskiego Str., 90-924 Lodz, Poland

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).