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A rehabilitation gait for the balance of human and lower extremity exoskeleton system based on the transfer of gravity center

Hansong Wang (Zhejiang University, Hangzhou, China)
Canjun Yang (The State Key Laboratory of Fluid Power Transmission and Control, Hangzhou, Zhejiang, China)
Wei Yang (Zhejiang University, Hangzhou, China)
Meiying Deng (Zhejiang University, Hangzhou, China)
Zhangyi Ma (Zhejiang University School of International Studies, Hangzhou, Zhejiang, China)
Qianxiao Wei (Zhejiang University – Yuquan Campus, Hangzhou, Zhejiang, China)

Industrial Robot

ISSN: 0143-991x

Publication date: 19 August 2019

Abstract

Purpose

Most current lower extremity exoskeletons emphasize assistance for walking rather than stability. The purpose of this paper is to propose a rehabilitation gait based on the transfer of gravity center to improve the balance of exoskeleton rehabilitation training of the hemiplegic patients in the frontal plane, reducing the dependence on crutches/walking frames.

Design/methodology/approach

The real-time and predictable instability factors of human and exoskeleton system (HES) are analyzed. Inspired by the walking balance strategy of the blind, a rehabilitation gait based on the transfer of gravity center is proposed and studied by modeling and experimental test and is finally applied to the prototype – Zhejiang University lower extremity exoskeleton (ZJULEEX) – to verify its feasibility.

Findings

At least three real-time and predictable factors cause the instability of HES, and the factor of lateral tilt caused by gravity should be focused in the balance control of frontal plane. With the proposed gait, the hip height of stepping leg of HES does not reduce obviously even when the crutches do not work, which can improve the balance of HES.

Research limitations/implications

However, the rehabilitation gait control needs to be more complete and intelligent to response to other types of perturbations to further improve the balance of HES. In addition, more clinical trials should be conducted to evaluate the effect of the proposed gait.

Social implications

May bring happiness to the rehabilitation of patients with hemiplegia.

Originality/value

The rehabilitation gait based on the transfer of gravity center to improve the balance of HES is first proposed and applied to HES.

Keywords

Citation

Wang, H., Yang, C., Yang, W., Deng, M., Ma, Z. and Wei, Q. (2019), "A rehabilitation gait for the balance of human and lower extremity exoskeleton system based on the transfer of gravity center", Industrial Robot, Vol. 46 No. 5, pp. 608-621. https://doi.org/10.1108/IR-07-2018-0150

Publisher

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Emerald Publishing Limited

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