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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

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Citations:  Bibtex RefMan EndNote GB/T7714


Donghai WANG


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Frontiers of Information Technology & Electronic Engineering  2022 Vol.23 No.6 P.920-936


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

Author(s):  Donghai WANG

Affiliation(s):  State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan430074, 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, 2022, 23(6): 920-936.

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DOI - 10.1631/FITEE.2000465

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.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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