Intuitive Gait Pattern Generation for an Exoskeleton Robot
Exoskeleton robots are being studied and developed in various forms according to user. Among them, the most concentrated area is the lower limb exoskeleton robot for “walking,” which is the basic exercise of paralyzed patients. In this study, we utilize the gait cycle, speed, and stride, which are i...
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| Veröffentlicht in: | International journal of precision engineering and manufacturing 2019-11, Vol.20 (11), p.1905-1913 |
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| container_title | International journal of precision engineering and manufacturing |
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| creator | Hwang, S. H. Lee, S. C. Shin, D. B. Baek, I. H. Kim, M. J. Sun, D. I. Kim, B. S. Hwang, S. W. Han, C. S. |
| description | Exoskeleton robots are being studied and developed in various forms according to user. Among them, the most concentrated area is the lower limb exoskeleton robot for “walking,” which is the basic exercise of paralyzed patients. In this study, we utilize the gait cycle, speed, and stride, which are important dependent factors of gait, and not the control technique that uses the predefined gait pattern using the average value of the gait data of the general person used by the existing rehabilitation exoskeleton robot. By creating an end-point reference using a walking element and inverse kinematics, and by using a dynamic movement primitive technique to learn the gait data of the general public, generating the gait patterns of various walking environments without storing them in advance is possible. In this paper, we applied this method to the exoskeleton robot and show robot to generate various strides gait pattern by experiments. |
| doi_str_mv | 10.1007/s12541-019-00184-z |
| format | Article |
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H. ; Lee, S. C. ; Shin, D. B. ; Baek, I. H. ; Kim, M. J. ; Sun, D. I. ; Kim, B. S. ; Hwang, S. W. ; Han, C. S.</creator><creatorcontrib>Hwang, S. H. ; Lee, S. C. ; Shin, D. B. ; Baek, I. H. ; Kim, M. J. ; Sun, D. I. ; Kim, B. S. ; Hwang, S. W. ; Han, C. S.</creatorcontrib><description>Exoskeleton robots are being studied and developed in various forms according to user. Among them, the most concentrated area is the lower limb exoskeleton robot for “walking,” which is the basic exercise of paralyzed patients. In this study, we utilize the gait cycle, speed, and stride, which are important dependent factors of gait, and not the control technique that uses the predefined gait pattern using the average value of the gait data of the general person used by the existing rehabilitation exoskeleton robot. By creating an end-point reference using a walking element and inverse kinematics, and by using a dynamic movement primitive technique to learn the gait data of the general public, generating the gait patterns of various walking environments without storing them in advance is possible. In this paper, we applied this method to the exoskeleton robot and show robot to generate various strides gait pattern by experiments.</description><identifier>ISSN: 2234-7593</identifier><identifier>EISSN: 2005-4602</identifier><identifier>DOI: 10.1007/s12541-019-00184-z</identifier><language>eng</language><publisher>Seoul: Korean Society for Precision Engineering</publisher><subject>Engineering ; Exoskeletons ; Gait ; Industrial and Production Engineering ; Inverse kinematics ; Materials Science ; Pattern generation ; Regular Paper ; Rehabilitation ; Robots ; Walking</subject><ispartof>International journal of precision engineering and manufacturing, 2019-11, Vol.20 (11), p.1905-1913</ispartof><rights>Korean Society for Precision Engineering 2019</rights><rights>Copyright Springer Nature B.V. 2019</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c353t-80e40adc43b675869c0762265fb21d4b9fefb5266366eb7990816b5555de29fa3</citedby><cites>FETCH-LOGICAL-c353t-80e40adc43b675869c0762265fb21d4b9fefb5266366eb7990816b5555de29fa3</cites><orcidid>0000-0003-4845-7416</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s12541-019-00184-z$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s12541-019-00184-z$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,776,780,27901,27902,41464,42533,51294</link.rule.ids></links><search><creatorcontrib>Hwang, S. 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In this study, we utilize the gait cycle, speed, and stride, which are important dependent factors of gait, and not the control technique that uses the predefined gait pattern using the average value of the gait data of the general person used by the existing rehabilitation exoskeleton robot. By creating an end-point reference using a walking element and inverse kinematics, and by using a dynamic movement primitive technique to learn the gait data of the general public, generating the gait patterns of various walking environments without storing them in advance is possible. In this paper, we applied this method to the exoskeleton robot and show robot to generate various strides gait pattern by experiments.</description><subject>Engineering</subject><subject>Exoskeletons</subject><subject>Gait</subject><subject>Industrial and Production Engineering</subject><subject>Inverse kinematics</subject><subject>Materials Science</subject><subject>Pattern generation</subject><subject>Regular Paper</subject><subject>Rehabilitation</subject><subject>Robots</subject><subject>Walking</subject><issn>2234-7593</issn><issn>2005-4602</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2019</creationdate><recordtype>article</recordtype><recordid>eNp9kE1LAzEQhoMoWGr_gKcFz9HJ5268Sam1UFBEzyHZJrJaNzXJivbXG13Bm3OZYXg_4EHolMA5AagvEqGCEwxEYQDScLw_QBMKIDCXQA_LTRnHtVDsGM1S6iwwQiUTjZygy1Wfhy53765ami5XdyZnF_tq6XoXTe5CX_kQK9NXi4-QXtzW5fK6DzbkE3TkzTa52e-eosfrxcP8Bq9vl6v51Rq3TLCMG3AczKblzMq6dKoWakmpFN5SsuFWeeetoFIyKZ2tlYKGSCvKbBxV3rApOhtzdzG8DS5l_RyG2JdKTRnUtSSKq6Kio6qNIaXovN7F7tXET01Af2PSIyZdMOkfTHpfTGw0pSLun1z8i_7H9QXOdGmv</recordid><startdate>20191101</startdate><enddate>20191101</enddate><creator>Hwang, S. H.</creator><creator>Lee, S. C.</creator><creator>Shin, D. B.</creator><creator>Baek, I. H.</creator><creator>Kim, M. J.</creator><creator>Sun, D. I.</creator><creator>Kim, B. S.</creator><creator>Hwang, S. W.</creator><creator>Han, C. S.</creator><general>Korean Society for Precision Engineering</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><orcidid>https://orcid.org/0000-0003-4845-7416</orcidid></search><sort><creationdate>20191101</creationdate><title>Intuitive Gait Pattern Generation for an Exoskeleton Robot</title><author>Hwang, S. H. ; Lee, S. C. ; Shin, D. B. ; Baek, I. H. ; Kim, M. J. ; Sun, D. I. ; Kim, B. S. ; Hwang, S. W. ; Han, C. 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Manuf</stitle><date>2019-11-01</date><risdate>2019</risdate><volume>20</volume><issue>11</issue><spage>1905</spage><epage>1913</epage><pages>1905-1913</pages><issn>2234-7593</issn><eissn>2005-4602</eissn><abstract>Exoskeleton robots are being studied and developed in various forms according to user. Among them, the most concentrated area is the lower limb exoskeleton robot for “walking,” which is the basic exercise of paralyzed patients. In this study, we utilize the gait cycle, speed, and stride, which are important dependent factors of gait, and not the control technique that uses the predefined gait pattern using the average value of the gait data of the general person used by the existing rehabilitation exoskeleton robot. By creating an end-point reference using a walking element and inverse kinematics, and by using a dynamic movement primitive technique to learn the gait data of the general public, generating the gait patterns of various walking environments without storing them in advance is possible. In this paper, we applied this method to the exoskeleton robot and show robot to generate various strides gait pattern by experiments.</abstract><cop>Seoul</cop><pub>Korean Society for Precision Engineering</pub><doi>10.1007/s12541-019-00184-z</doi><tpages>9</tpages><orcidid>https://orcid.org/0000-0003-4845-7416</orcidid></addata></record> |
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| language | eng |
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| subjects | Engineering Exoskeletons Gait Industrial and Production Engineering Inverse kinematics Materials Science Pattern generation Regular Paper Rehabilitation Robots Walking |
| title | Intuitive Gait Pattern Generation for an Exoskeleton Robot |
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