NDLI: Optimal gait pattern generation for powered robotic exoskeleton and verification of its feasibility

Content Provider	IEEE Xplore Digital Library
Author	Seunghoon Lee Wansoo Kim Minsung Kang Jungsoo Han Changsoo Han
Copyright Year	2010
Description	Author affiliation: Department of Mechanical Engineering, Hanyang University, Seoul, Korea (Seunghoon Lee; Wansoo Kim) \|\| Department of Mechanical Engineering, Hanyang University, Gyeonggi-do, Korea (Changsoo Han) \|\| Department of Mechatronics Engineering, Hanyang University, Seoul, Korea (Minsung Kang) \|\| Department of Mechanical Systems Engineering, Hansung University, Seoul, Korea (Jungsoo Han)
Abstract	The will of humans with physical disabilities to move has found realization through the development of powered robotic exoskeleton. In this study, an energy-efficient gait pattern and swing trajectory of the powered robotic exoskeleton was proposed through function distribution analysis and the dynamic-manipulability ellipsoid (DME). To verify its feasibility and the effect of the proposed optimal gait pattern from the point view of the integrated system (human and exoskeleton), simulations were performed in the cases of walking on level ground and stair ascent/descent. Experiments such as on the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted, and the power consumption of the exoskeleton was assessed, with the aim of improving the efficiency of the integrated system.
Starting Page	500
Ending Page	505
File Size	1173145
Page Count	6
File Format	PDF
ISBN	9781424479917
ISSN	19449445
e-ISBN	9781424479900
DOI	10.1109/ROMAN.2010.5598675
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-13
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Exoskeletons Legged locomotion Joints Hip Humans Mathematical model
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Energy-efficient gait pattern generation of the powered robotic exoskeleton using DME

Model predictive control-based gait pattern generation for wearable exoskeletons

Four-legged gait planning method for a mobile medical exoskeleton with a pair of crutches

Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human

Impact of ankle locking on gait implications for the design of hip and knee exoskeletons

Flexible design of a wearable lower limb exoskeleton robot

Online gait task recognition algorithm for hip exoskeleton

Altering dynamic patterns in gait using visual and proprioceptive stimuli

AssistOn-Gait: An overground gait trainer with an active pelvis-hip exoskeleton

Optimal gait pattern generation for powered robotic exoskeleton and verification of its feasibility

Similar Documents

Energy-efficient gait pattern generation of the powered robotic exoskeleton using DME

Model predictive control-based gait pattern generation for wearable exoskeletons

Four-legged gait planning method for a mobile medical exoskeleton with a pair of crutches

Statically vs dynamically balanced gait: Analysis of a robotic exoskeleton compared with a human

Impact of ankle locking on gait implications for the design of hip and knee exoskeletons

Flexible design of a wearable lower limb exoskeleton robot

Online gait task recognition algorithm for hip exoskeleton

Altering dynamic patterns in gait using visual and proprioceptive stimuli

AssistOn-Gait: An overground gait trainer with an active pelvis-hip exoskeleton

Optimal gait pattern generation for powered robotic exoskeleton and verification of its feasibility