CLC number: TP242.6
On-line Access: 2022-06-17
Received: 2020-09-09
Revision Accepted: 2021-10-08
Crosschecked: 2022-07-05
Cited: 0
Clicked: 3978
Donghai WANG. Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people[J]. Frontiers of Information Technology & Electronic Engineering, 2022, 23(6): 920-936.
@article{title="Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people",
author="Donghai WANG",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="23",
number="6",
pages="920-936",
year="2022",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2000465"
}
%0 Journal Article
%T Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people
%A Donghai WANG
%J Frontiers of Information Technology & Electronic Engineering
%V 23
%N 6
%P 920-936
%@ 2095-9184
%D 2022
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.2000465
TY - JOUR
T1 - Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people
A1 - Donghai WANG
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 23
IS - 6
SP - 920
EP - 936
%@ 2095-9184
Y1 - 2022
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.2000465
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.
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