Title :
Dynamic Walking Planning for Gait Rehabilitation Robot
Author :
Feng, Zhiguo ; Qian, Jinwu ; Zhang, Yanan ; Shen, Linyong ; Zhang, Zhen ; Wang, Qiyuan
Author_Institution :
Sch. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai
Abstract :
This paper presents a method for walking planning of rehabilitation robot. Firstly, the simple model of four-links robot walking on the treadmill is introduced. Then, the constraints of swing limb tip and hip motion are formulated in terms of coherent physical characteristics of gait and the compatible hip and swing limb tip trajectories are generated by cubic polynomial interpolation. By varying the values of the constraint parameters, it is easy to produce different motion trajectory. Finally, the joint angle profiles are computed according to hip and limb tip trajectories. The effectiveness of the proposed method is confirmed by computer simulation examples and experimental results.
Keywords :
gait analysis; medical robotics; mobile robots; path planning; patient rehabilitation; robot dynamics; computer simulation; cubic polynomial interpolation; dynamic walking planning; four-link robot walking; gait rehabilitation robot; hip motion; joint angle profile; motion trajectory; swing limb tip; Foot; Hip; Humans; Interpolation; Knee; Leg; Legged locomotion; Polynomials; Rehabilitation robotics; Robotics and automation;
Conference_Titel :
Bioinformatics and Biomedical Engineering, 2008. ICBBE 2008. The 2nd International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-1747-6
Electronic_ISBN :
978-1-4244-1748-3
DOI :
10.1109/ICBBE.2008.648
