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 loa...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.展开更多
基金the National Natural Science Foundation of China(No.51705167)the Dongguan Introduction Program of Leading Innovative and Entrepreneurial Talents。
文摘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.
