Abstract
Creation of rehabilitation systems for patients with musculoskeletal system disorders, will reduce the number of such patients. One of the main stages in the development of such devices is the construction of movement patterns depending on the patient anthropometric parameters. The use of simplified feet and the center of mass motion laws can lead to the formation of the human-machine system (HMS) irrational gait. The solution of the problem is possible due to the accurate construction of the foot movement trajectory, based on gait motion capture or video analysis.
The aim of the work is in constructing and processing the human foot movement trajectory on the base of experiment video fragment and creating a rehabilitation exoskeleton gait mathematical model. For this purpose, the tasks of constructing a foot motion trajectory on the base of the experiment video clip, smoothing and approximating this trajectory, and the inverse kinematics problem have been solved. A method of constructing and processing the foot movement trajectory and finding the links rotational movement kinematic characteristics for creating HMS movement patterns is proposed.
The simulation results showed that the proposed methods of movement trajectory constructing and exoskeleton gait modeling allow repeat the person gait with satisfactory accuracy with taking into account the anthropometric parameters of the foot.
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Pechurin, A.S., Jatsun, S.F., Fedorov, A.V., Jatsun, A.S. (2022). Studying the Two-Legged Walking System with Video Capture Methods. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_1
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