Abstract
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.
摘要
本文展示了一种可潜在帮助单侧膝受伤患者正常行走的传感引导步态同步下肢外骨骼系统。外骨骼能够减轻人体体重对受伤膝下肢的负载, 并维持与健康侧下肢行走步态摆动相同步。传感引导步态同步系统集成了人体传感网络, 它能感知健康侧下肢的运动步态。基于测量的关节角度轨迹引导, 安装电机的髋关节在行走中提起腿杆, 并将膝受伤步态和健康步态以半周期延时进行同步。实验验证了下肢外骨骼的效果。本文比较了健康腿和膝受伤腿的测量关节角度轨迹、仿真的膝受力、人机交互力等方面, 结果说明髋关节安装电机受控制的下肢外骨骼能够将受伤腿和体重支撑外骨骼的融合步态与健康腿步态进行同步。
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Acknowledgements
The author thanks Drs. Kok-Meng LEE and Jingjing JI for technical advice and valuable discussion, and Luchen SHENG for assistance in experiments.
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Donghai WANG declares that he has no conflict of interest.
Project supported by the National Natural Science Foundation of China (No. 51705167) and the Dongguan Introduction Program of Leading Innovative and Entrepreneurial Talents
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Wang, D. Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people. Front Inform Technol Electron Eng 23, 920–936 (2022). https://doi.org/10.1631/FITEE.2000465
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DOI: https://doi.org/10.1631/FITEE.2000465