CASIA OpenIR  > 智能制造技术与系统研究中心  > 智能机器人
A gait trajectory measuring and planning method for lower limb robotic rehabilitation
Wang,Xiaonan; Cao,Xuewei; Song,Haitao; Lu,Tao; Yuan,Kui
Conference NameIEEE International Conference on Mechatronics and Automation
Source PublicationIEEE International Conference on Mechatronics and Automation
Conference Date2015-8
Conference PlaceBeijing,China
Abstract"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. "
KeywordRehabilitation Robot Human-robot Interaction Adaptive Control
Document Type会议论文
Corresponding AuthorLu,Tao
Recommended Citation
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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