Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people潜在用于单侧膝受伤患者的传感引导步态同步下肢外骨骼

被引：0
作者：
Donghai Wang
机构：
[1] Huazhong University of Science and Technology,State Key Laboratory of Digital Manufacturing Equipment and Technology
[2] Guangdong Sygole Intelligent Technology Co.,undefined
[3] Ltd.,undefined
来源：
Frontiers of Information Technology & Electronic Engineering | 2022年 / 23卷
关键词：
Sensor-guided; Lower-extremity-exoskeleton; Body sensor network; Gait synchronization; Weight-support; TP242.6; 传感引导; 下肢外骨骼; 人体传感网络; 步态同步; 体重支撑;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents a sensor-guided gait-synchronization system to help potential unilateral knee-injured people walk normally with a weight-supported lower-extremity-exoskeleton (LEE). This relieves the body weight loading on the knee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of walking. The sensor-guided gait-synchronization system is integrated with a body sensor network designed to sense the motion/gait of the healthy leg. Guided by the measured joint-angle trajectories, the motorized hip joint lifts the links during walking and synchronizes the knee-injured gait with the healthy gait by a half-cycle delay. The effectiveness of the LEE is illustrated experimentally. We compare the measured joint-angle trajectories between the healthy and knee-injured legs, the simulated knee forces, and the human-exoskeleton interaction forces. The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined body-weight-supported LEE and injured leg with that of the healthy leg.
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页码：920 / 936
页数：16
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