3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept

Soliman, Ahmed Fahmy; Şendur, Polat; Uğurlu, Barkan

doi:10.1109/icorr.2019.8779438

Cited by 6 publications

(5 citation statements)

References 17 publications

(26 reference statements)

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“…Simulation work has shown that the momentum and gravity are sufficient to propel the walking movement on a low slope [108,109]. These passive models reflect certain characteristics of human walking, such as ballistic movement during the oscillation phase [110] and energy efficiency on low slopes [111], and therefore act as simple substitution models for the study of bipedal mechanics. Although the dynamic equations of motion can give a stable solution corresponding to a symmetrical gait, small changes in the model parameters can result in qualitatively different behaviors at a bifurcation point, after which a new asymmetric (stable) solution emerges from the symmetric solution (unstable).…”

Section: Symmetry/asymmetry From Robotic Point Of Viewmentioning

confidence: 99%

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

et al. 2021

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This article deepens a reflection on why and how symmetry/asymmetry affects the motor and postural behavior from the neural source, uterine development, child maturation, and how the notion of symmetry/asymmetry has been applied to walking robot design and control. The concepts of morphology and tensegrity are also presented to illustrate how the biological structures have been used in both sciences and arts. The development of the brain and the neuro-fascia-musculoskeletal system seems to be quite symmetric from the beginning of life through to complete maturity. The neural sources of movements (i.e., central pattern generators) are able to produce both symmetric or asymmetric responses to accommodate to environmental constraints and task requirements. Despite the fact that the human development is mainly symmetric, asymmetries already regulate neurological and physiological development. Laterality and sports training could affect natural musculoskeletal symmetry. The plasticity and flexibility of the nervous system allows the abilities to adapt and compensate for environmental constraints and musculoskeletal asymmetries in order to optimize the postural and movement control. For designing humanoid walking robots, symmetry approaches have been mainly used to reduce the complexity of the online calculation. Applications in neurological retraining and rehabilitation should also be considered.

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Section: Symmetry/asymmetry From Robotic Point Of Viewmentioning

confidence: 99%

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

et al. 2021

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“…For the dynamic study of the robotic systems, the most used software is MSC.AD-AMS [44], due to the accuracy of results obtained. Thus, the use of this software in various research fields in the industry is noticeable, among which can be mentioned exoskeleton robotic systems or flexible robotic units for minimally invasive surgery [45][46][47][48][49][50][51][52]. MSC.AD-AMS uses the kinematics of markers in three essential areas: kinematics, dynamics and optimization of mobile mechanical systems.…”

Section: Theoretical Aspects Regarding the Kinematic And Dynamic Analysis Of The Aspire Robot In Mscadamsmentioning

confidence: 99%

“…In this paragraph, by using MSC.ADAMS [44] a software frequently used for numerical simulations in scientific researches [45][46][47][48][49][50][51][52], the virtual dynamic analysis of the ASPIRE robot when used by a virtual patient who needs to rehabilitate the movements of the upper limb is performed. The aim of this analysis is to determine the external loads of the kinematic elements of the ASPIRE robot.…”

Section: Dynamic Analysis Of the Aspire Robot Using Mscadams Softwarementioning

confidence: 99%

Dynamic Analysis of a Spherical Parallel Robot Used for Brachial Monoparesis Rehabilitation

et al. 2021

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This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software. For this purpose, this paper presents theoretical aspects regarding the kinematics and dynamics of the markers attached to the flexible bodies built in a specifically developed MSC.ADAMS model. Three simulation hypotheses are considered: (a) rigid kinematic elements without friction in couplings, (b) rigid kinematic elements with friction in couplings, and (c) kinematic elements as deformable solids with friction in couplings. Experimental results obtained by using the physical prototype of ASPIRE are presented. Results such as the connecting forces in the kinematic joints and the torques necessary to operate the ASPIRE robot modules have been obtained by dynamic simulation in MSC.ADAMS and compared with those determined experimentally. The comparison shows that the allure of the variation curve of the moment obtained by simulation is similar to that obtained experimentally. The difference between the maximum experimental value and that obtained by simulation is less than 1%. A finite element analysis (FEA) of the structurally optimized flexion/extension robot module is performed. The results demonstrate the operational safety of the ASPIRE robot, which is structurally capable of supporting the stresses to which it is subjected.

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“…The mentioned indices are extremely important as individual walking features, but one index alone is not enough to judge personal walking. Therefore, many researchers have studied the use of one or more indices for the analysis of human walking [2][3][4][5][6][7][8][9][10][11][12][13][14].…”

Section: Introductionmentioning

confidence: 99%

An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

Kim

Murakami

2020

Applied Sciences

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The parameters of walking have been studied from the viewpoints of joint rotation and translation of body. The balance and symmetry of walking are indispensable features to understand for healthy walking, while also being a personal characteristic. However, quantification has not been easy to carry out in the case of the conventional gait parameters COG (center of gravity) and ZMP (zero moment point). In this approach, the CP (crossing point) is proposed to quantify the concept of symmetry and balance by comparing it to the COG and ZMP. The CP is estimated based on the intersection between the hip line and the ankle line. While the hip line is fixed on the upper body where the COG is, the ankle line is altered depending on the each footfall, where the ZMP is. Therefore, the values of COG, ZMP, and CP have similar or different tendencies in terms of whether balanced walking results in symmetry or not. The validity of this is verified by carrying out a simulation with robot walking, and an experiment using human walking. Through additional experiments, it was noticed that the CP was able to improve the role of COG and ZMP in terms of not only stability, but also its relationship with the movement range of the lower limbs.

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3-D Dynamic Walking Trajectory Generation for a Bipedal Exoskeleton with Underactuated Legs: A Proof of Concept

Cited by 6 publications

References 17 publications

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

From Neural Command to Robotic Use: The Role of Symmetry/Asymmetry in Postural and Locomotor Activities

Dynamic Analysis of a Spherical Parallel Robot Used for Brachial Monoparesis Rehabilitation

An Approach to Human Walking Analysis Based on Balance, Symmetry and Stability Using COG, ZMP and CP

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