Comparative Analysis of Walking in the Lower Limbs’ Exoskeleton with Various Strategies for Constructing the Ankle Joint’ Trajectories

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Comparative Analysis of Walking in the Lower Limbs’ Exoskeleton with Various Strategies for Constructing the Ankle Joint’ Trajectories

Jatsun, Sergey / Malchikov, Andrei / Yatsun, Andrey / Martinez Leon, Andres Santiago

The paper explores various approaches to obtaining the trajectories of the ankle joint’ movements of a exoskeleton walking machine. One of the options for setting the movement of the exoskeleton foot is the use of piecewise polynomial laws that provides a shockless cyclic mode of movement of the links during walking. The second option considered in the work is the use of natural movement characteristics obtained during the analysis of walking videos with subsequent approximation of the results by an artificial neural network. As part of the work, a mathematical model is proposed that allows a comparative analysis of the characteristics of the controlled movement of the executive links with different strategies for setting the trajectory of the movement of the ankle joint of the exoskeleton. The article shows the assessment of the positioning error during the development of trajectories, as well as an assessment of the energy efficiency of the methods and an assessment of their applicability in real rehabilitation devices.

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Dokumentinformationen

Titel :

Comparative Analysis of Walking in the Lower Limbs’ Exoskeleton with Various Strategies for Constructing the Ankle Joint’ Trajectories

Weitere Titelangaben:

Lect. Notes in Networks, Syst.

Beteiligte:

Cascalho, José M. (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Mendes, Armando (Herausgeber:in) / Goher, Khaled (Herausgeber:in) / Funk, Matthias (Herausgeber:in) / Jatsun, Sergey (Autor:in) / Malchikov, Andrei (Autor:in) / Yatsun, Andrey (Autor:in) / Martinez Leon, Andres Santiago (Autor:in)

Kongress:

Climbing and Walking Robots Conference ; 2022 ; Ponta Delgada, Portugal September 12, 2022 - September 14, 2022

Erschienen in:

Robotics in Natural Settings ; Kapitel : 53 ; 584-593

Lecture Notes in Networks and Systems ; 530

Erscheinungsdatum :

2022-08-25

Format / Umfang :

10 pages

ISBN :

978-3-031-15226-9 , 978-3-031-15225-2

ISSN :