NDLI: Precedence walking assistance mechanism for exoskeletons with improved detection of step initiation based on gait analysis

Content Provider	Springer Nature Link
Author	Cha, Dowan Oh, Sung Nam Kim, Kab Il Kim, Kyung Soo Kim, Soohyun
Copyright Year	2014
Abstract	The development of a more rapid detection method for step initiation is a challenging area of research for interaction force elimination in exoskeletons. Several studies have attempted to enable a more rapid detection of step initiation via either the precedence walking assistance mechanism or the shadow walking assistance mechanism. Although the precedence walking assistance mechanism is the fastest for detecting step initiation, this mechanism has limitations, such as low reliability when using bio-signals in further development of the exoskeleton. In this study, we implemented a precedence walking assistance mechanism based on gait analysis in the Unmanned Technology Research Center Exoskeleton without using any bio-signals and were thus able to reduce the interaction force of the operator during the first step.
Starting Page	4353
Ending Page	4359
Page Count	7
File Format	PDF
ISSN	1738494X
Journal	Journal of Mechanical Science and Technology
Volume Number	28
Issue Number	11
e-ISSN	19763824
Language	English
Publisher	Korean Society of Mechanical Engineers
Publisher Date	2015-01-22
Publisher Place	Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Exoskeleton (UTRCEXO) Interaction force reduction Peak-time approach Step initiation Mechanical Engineering Vibration, Dynamical Systems, Control Industrial and Production Engineering
Content Type	Text
Resource Type	Article
Subject	Mechanics of Materials Mechanical Engineering

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Implementation of precedence walking assistance mechanism in exoskeleton with only vertical ground reaction forces

Verification of the peak time approach for detection of step initiation using the UTRCEXO

Contributions of the lower extremity joint on the support moment in normal walking and in unexpected step-down walking

Efficient walking gait with different speed and step length: Gait strategies discovered by dynamic optimization of a biped model

Tripod gait-based turning gait of a six-legged walking robot

Development of ankle-less active lower-limb exoskeleton controlled using finite leg function state machine

Kinematics, kinetics and muscle activities of the lower extremity during the first four steps from gait initiation to the steady-state walking

Effects of walking speed and age on the directional stride regularity and gait variability in treadmill walking

Force distribution of a six-legged walking robot with high constant speed

Precedence walking assistance mechanism for exoskeletons with improved detection of step initiation based on gait analysis

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Implementation of precedence walking assistance mechanism in exoskeleton with only vertical ground reaction forces

Verification of the peak time approach for detection of step initiation using the UTRCEXO

Contributions of the lower extremity joint on the support moment in normal walking and in unexpected step-down walking

Efficient walking gait with different speed and step length: Gait strategies discovered by dynamic optimization of a biped model

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Precedence walking assistance mechanism for exoskeletons with improved detection of step initiation based on gait analysis