First experimental results on adaptation algorithms for lower limbs active orthoses

Silveira, Guilherme L. M.; Gomes, Marciel A.; Siqueira, Adriano A. G.

doi:10.1109/med.2010.5547868

Cited by 2 publications

(1 citation statement)

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“…The GPA adjusted the generating trajectory to suit the desired trajectory based on torque interaction between humans and robots. This method was also studied in different approaches [14][15][16]. The NaTUre-gaits is also a technique that is used to generate the trajectory that follows natural https://doi.org/10.31436/iiumej.v24i2.2296 human motion for rehabilitation studies [17].…”

Section: Introductionmentioning

confidence: 99%

High Accuracy Human Motion Trajectory Generation for Exoskeleton Robot Using Curve Fitting Technique

Jalil

Miskon

Bahar

2023

IIUMEJ

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Robotic systems often require trajectory planning algorithms that can generate natural human-like movements for tasks such as grasping and manipulation. However, conventional trajectory planning methods may not accurately capture the complex movement patterns observed in humans. In this paper, we present a trajectory planning algorithm based on polynomial curve fitting that aims to address this issue. The algorithm determines the polynomial coefficient values that accurately match the natural human trajectory profile and is evaluated using MATLAB simulations. We compare the proposed algorithm to the conventional quintic polynomial trajectory method, analysing the accuracy, precision, and via-point continuity. The result shows that the algorithm has the ability to generate a trajectory profile with accuracy of 99.8% and a precision of 0.002°. However, the result for via-point continuity shows an error on every sub-phase transition, with the lowest error of 0.0031 between the transition of sub-phases 1 and 2. The result also shows that the lowest fitting error recorded is 0.00014°. The results demonstrate that our algorithm can generate trajectory profiles with higher accuracy and naturalness, potentially improving the performance and usability of robotic systems. ABSTRAK: Sistem robotik sering memerlukan algoritma perancangan trajektori yang dapat menghasilkan gerakan semulajadi seperti manusia bagi tugas seperti memegang dan memanipulasi objek. Walau bagaimanapun, kaedah perancangan trajektori konvensional mungkin tidak dapat merekodkan pola gerakan kompleks seperti yang dihasilkan manusia secara tepat. Kajian ini adalah berkenaan algoritma perancangan lintasan berdasarkan penyepaduan lengkung polinomial bagi menyelesaikan masalah ini. Algoritma ini menentukan nilai pekali polinomial yang sepadan dengan profil gerakan semulajadi manusia dan dinilai menggunakan simulasi MATLAB. Algoritma yang dicadangkan ini telah dibandingkan dengan kaedah perancangan lintasan polinomial kuintik konvensional, dianalisis kejituan, ketepatan, dan keberterusan titik lalu. Keputusan menunjukkan bahawa algoritma tersebut mampu menghasilkan profil lintasan dengan kejituan sebanyak 99.8% dan ketepatan sebanyak 0.002°. Walau bagaimanapun, dapatan kajian mengenai keberterusan titik lalu menunjukkan ralat pada setiap peralihan fasa-sub dengan ralat terendah sebanyak 0.0031 pada peralihan antara fasa-sub 1 dan fasa-sub 2. Dapatan kajian juga menunjukkan bahawa ralat penyepaduan terendah yang direkodkan adalah sebanyak 0.00014°. Keputusan ini menunjukkan bahawa algoritma ini mampu menghasilkan profil lintasan dengan ketepatan dan sifat semula jadi yang lebih tinggi, berpotensi meningkatkan prestasi dan kegunaan sistem robotik.

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