Real Time Gait Planning for a Mobile Medical Exoskeleton with Crutche
文献类型：会议论文
| 作者 | Shaomin Zhang; Can Wang; Xinyu Wu; Yongqiang Liao; Xipeng Hu; Can Wu |
| 出版日期 | 2015 |
| 会议名称 | IEEE Conference on Robotics and Biomimetics |
| 会议地点 | Zhuhai |
| 英文摘要 | An exoskeleton with actuators at the hip and knee joints has been developed for spinal cord injury patients. And a pair of crutches is utilized to help paraplegic patients maintain balance during walking. A real time gait planning strategy has been implemented to allow the users to walk stable and natural. This strategy models the human-machine coupling system as a quadruped robot, adjusts and corrects gait before each step according to real time responses of multiple sensors. Taking into account the kinematic model of people wielding crutches, this gait planning strategy provides a larger stability margin for the system. Finally, experiments are performed on the SIAT exoskeleton in order to verify the effectiveness of the proposed method. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/6783]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2015 |
| 推荐引用方式 GB/T 7714 | Shaomin Zhang,Can Wang,Xinyu Wu,et al. Real Time Gait Planning for a Mobile Medical Exoskeleton with Crutche[C]. 见:IEEE Conference on Robotics and Biomimetics. Zhuhai. |
入库方式： OAI收割
来源：深圳先进技术研究院
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