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
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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