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Journal of Zhejiang University SCIENCE C 1998 Vol.-1 No.-1 P.

http://doi.org/10.1631/FITEE.2000465


Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people


Author(s):  Donghai WANG

Affiliation(s):  State Key Lab of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China; more

Corresponding email(s):   donghaiwang@hust.edu.cn

Key Words:  Sensor-guided, Lower-extremity-exoskeleton, Body sensor network, Gait synchronization, Weight-support


Donghai WANG. Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people[J]. Frontiers of Information Technology & Electronic Engineering, 1998, -1(-1): .

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Abstract: 
This paper presents a sensor-guided gait-synchronization system to help potential unilateral knee-injured people walk normally with a weight-support 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. Results comparing the measured joint-angle trajectories between the healthy and knee-injured legs, the simulated knee forces, and the human-exoskeleton interaction forces indicate that the motorized hip-controlled LEE may synchronize the motion/gait of the combined body-weight-support LEE and injured leg with that of the healthy leg.

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