A gait trajectory measuring and planning method for lower limb robotic rehabilitation

CORC > 自动化研究所 > 中国科学院自动化研究所 > 智能制造技术与系统研究中心 > 智能机器人团队

	A gait trajectory measuring and planning method for lower limb robotic rehabilitation
	Wang,Xiaonan; Cao,Xuewei; Song,Haitao; Lu,Tao; Yuan,Kui
	2015-08
会议日期	2015-8
会议地点	Beijing,China
关键词	Rehabilitation Robot Human-robot Interaction Adaptive Control
英文摘要	"In the past decade, gait rehabilitation robot has drawn comprehensive attention. Robots greatly reduce the workload of physical therapists and thus making rehabilitation sessions more effective and widely available. Various research efforts have been made in the field of robot-assisted rehabilitation. One of the key concerns of robotic assisted gait rehabilitation is gait planning and customization. In this paper, we first introduce a human gait measuring system based on binocular vision technique. Through the measuring system, gait data of healthy subjects under different walking speed are collected, which are used as the reference database for gait planning. On the basis of collected data, a method of gait planning and customization based on patients' physical characteristics is proposed. Finally, to validate the applicability of the generated gait patterns, the customized gait trajectories are implemented on a prototype of lower limbs rehabilitation robot. Experiment on healthy subject shows positive results with the gait trajectories generated by the proposed method. "
会议录	IEEE International Conference on Mechatronics and Automation
内容类型	会议论文
源URL	[http://ir.ia.ac.cn/handle/173211/12489]
专题	自动化研究所_智能制造技术与系统研究中心_智能机器人团队
通讯作者	Lu,Tao
作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Wang,Xiaonan,Cao,Xuewei,Song,Haitao,et al. A gait trajectory measuring and planning method for lower limb robotic rehabilitation[C]. 见:. Beijing,China. 2015-8.