Search results

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.

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.

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.

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.

May bring happiness to the rehabilitation of patients with hemiplegia.

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

Lower extremity exoskeletons have drawn much attention recently due to their potential ability to help the stroke and spinal cord injury patients to regain the ability of walking. However, the balance of the human-exoskeleton system (HES) remains a big challenge. Usually, patients use crutches to keep balance when they wear exoskeleton. However, the balance depends greatly on the patient's balance ability and will be inevitably poor occasionally, which often causes the landing in advance of HES. The purpose of this paper is to propose a real-time stepping gait trajectory planning method based on the hip height variation of the swing leg to solve the problem.

The hip height of the swing leg was analyzed and measured. The simulation with MATLAB and the experimental test with the prototype of the proposed gait were conducted to verify its feasibility.

With the proposed method, HES can achieve successful step even when the balance kept by crutches is poor.

Instead of actively avoiding the poor balance due to the instability caused by gravity, the method just modifies the stepping gait passively to avoid the landing in advance when the poor balance appears. In addition, it may not work well when the balance is too poor. Moreover, the proposed gait is just used in the initial stage of rehabilitation training. Besides, the step length of the gait must be limited for comfort.

A real-time stepping gait trajectory planning method based on the hip height variation of the swing leg is first proposed and its feasibility to avoid the landing in advance when the balance kept by the crutches is poor has been preliminary verified.

With the development of technology, the application scenarios of mobile robots are becoming more and more extensive, accompanied by a variety of application scenarios suitable and safe path planning algorithms are indispensable for mobile robots.

The purpose of this paper to improve the safety performance of your bot during the execution of tasks. The methods are synthesized in three main areas: setting appropriate safety distances based on the actual radius of the robot, turn penalty reduces the number of turns by applying an additional penalty to the number of turns in a heuristic function and path smoothing is used to improve path reliability by reducing the number of right-angle turns.

A suitable safety distance greatly improves the safety of mobile robots and facilitates their development. Optimization of turns in the path of mobile robots improves the travel efficiency of robots. Enhancing the safety of mobile robots has become a research hotspot for path-planning algorithms.

This paper proposes a path planning scheme for mobile robots with safe distances, which provides readers with a comprehensive and systematic progress of path planning research. It helps readers to get inspiration from enhancing the safety of mobile robots.