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CLC number: TP242
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2019-10-10
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Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory
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Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang. Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(10): 1322-1330.
@article{title="Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory",
author="Mei-ying Deng, Zhang-yi Ma, Ying-nan Wang, Han-song Wang, Yi-bing Zhao, Qian-xiao Wei, Wei Yang, Can-jun Yang",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="20",
number="10",
pages="1322-1330",
year="2019",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1800777"
}
%0 Journal Article
%T Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory
%A Mei-ying Deng
%A Zhang-yi Ma
%A Ying-nan Wang
%A Han-song Wang
%A Yi-bing Zhao
%A Qian-xiao Wei
%A Wei Yang
%A Can-jun Yang
%J Frontiers of Information Technology & Electronic Engineering
%V 20
%N 10
%P 1322-1330
%@ 2095-9184
%D 2019
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1800777
TY - JOUR
T1 - Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory
A1 - Mei-ying Deng
A1 - Zhang-yi Ma
A1 - Ying-nan Wang
A1 - Han-song Wang
A1 - Yi-bing Zhao
A1 - Qian-xiao Wei
A1 - Wei Yang
A1 - Can-jun Yang
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 20
IS - 10
SP - 1322
EP - 1330
%@ 2095-9184
Y1 - 2019
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1800777
Abstract: We study the balance problem caused by forward leaning of the wearer’s upper body during rehabilitation training with a lower limb rehabilitation exoskeleton. The instantaneous capture point is obtained by modeling the human-exoskeleton system and using the capture point theory. By comparing the stability region with instantaneous capture points of different gait phases, the balancing characteristics of different gait phases and changes to the equilibrium state in the gait process are analyzed. Based on a model of the human-exoskeleton system and the condition of balance of different phases, a trajectory correction strategy is proposed for the instability of the human-exoskeleton system caused by forward leaning of the wearer’s upper body. Finally, the reliability of the trajectory correction strategy is verified by carrying out experiments on the Zhejiang University lower extremity exoskeleton. The proposed trajectory correction strategy can respond to forward leaning of the upper body in a timely manner. Additionally, in the process of the center of gravity transferred from a double-support phase to a single-support phase, the ratio of gait cycle to zero moment point transfer is reduced correspondingly, and the gait stability is improved.
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