A gait trajectory measuring and planning method for lower limb robotic rehabilitation | |
Wang,Xiaonan; Cao,Xuewei; Song,Haitao; Lu,Tao; Yuan,Kui | |
2015-08 | |
会议名称 | IEEE International Conference on Mechatronics and Automation |
会议录名称 | IEEE International Conference on Mechatronics and Automation |
会议日期 | 2015-8 |
会议地点 | Beijing,China |
摘要 | "In the past decade, gait rehabilitation robot has drawn comprehensive attention. Robots greatly reduce the workload of physical therapists and thus making rehabilitation sessions more effective and widely available. Various research efforts have been made in the field of robot-assisted rehabilitation. One of the key concerns of robotic assisted gait rehabilitation is gait planning and customization. In this paper, we first introduce a human gait measuring system based on binocular vision technique. Through the measuring system, gait data of healthy subjects under different walking speed are collected, which are used as the reference database for gait planning. On the basis of collected data, a method of gait planning and customization based on patients' physical characteristics is proposed. Finally, to validate the applicability of the generated gait patterns, the customized gait trajectories are implemented on a prototype of lower limbs rehabilitation robot. Experiment on healthy subject shows positive results with the gait trajectories generated by the proposed method. " |
关键词 | Rehabilitation Robot Human-robot Interaction Adaptive Control |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/12489 |
专题 | 智能制造技术与系统研究中心_智能机器人 |
通讯作者 | Lu,Tao |
作者单位 | 中国科学院自动化研究所 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Wang,Xiaonan,Cao,Xuewei,Song,Haitao,et al. A gait trajectory measuring and planning method for lower limb robotic rehabilitation[C],2015. |
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文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
a gait trajectory me(1251KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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