Human Gait Analyses Using Multibody Systems Formulation: Normal and Pathological Scenarios

Moreira, Pedro; Peixoto, Joaquim Jorge Gomes; Lugrís, Urbano; Cuadrado, Javier; Flores, Paulo; Souto, A. Pedro

doi:10.1007/978-3-319-09411-3_54

Cited by 2 publications

(1 citation statement)

References 4 publications

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“…While approaching the problem via the Lagrange Equations is less demanding in computational terms than the application of dynamic equations in multibody systems [12], inverse dynamics is an excellent method to estimate reaction forces and torques at each joint during gait without solving any differential equations. Results obtained by the Newton-Euler equations via inverse models offer a good correlation with those from multibody analysis [14]. Here, an inverse dynamics model is aimed at, assuming the gait kinematic data and the ground contact force as known quantities.…”

Section: Introductionmentioning

confidence: 99%

Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit

Jorge

Bermejo-Garcìa

Jayakumar

et al. 2022

Sensors

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Soft exosuits stand out when it comes to the development of walking-assistance devices thanks to both their higher degree of wearability, lower weight, and price compared to the bulkier equivalent rigid exoskeletons. In cable-driven exosuits, the acting force is driven by cables from the actuation system to the anchor points; thus, the user’s movement is not restricted by a rigid structure. In this paper, a 3D inverse dynamics model is proposed and integrated with a model for a cable-driven actuation to predict the required motor torque and traction force in cables for a walking-assistance exosuit during gait. Joint torques are to be shared between the user and the exosuit for different design configurations, focusing on both hip and ankle assistance. The model is expected to guide the design of the exosuit regarding aspects such as the location of the anchor points, the cable system design, and the actuation units. An inverse dynamics analysis is performed using gait kinematic data from a public dataset to predict the cable forces and position of the exosuit during gait. The obtained joint reactions and cable forces are compared with those in the literature, and prove the model to be accurate and ready to be implemented in an exosuit control scheme. The results obtained in this study are similar to those found in the literature regarding the walking study itself as well as the forces under which cables operate during gait and the cable position cycle.

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Section: Introductionmentioning

confidence: 99%

Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit

Jorge

Bermejo-Garcìa

Jayakumar

et al. 2022

Sensors

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Fuzzy controller for the treadmill speed adaptation system in mechatronic device for gait reeducation

Gembalczyk

Duda

Świtoński

et al. 2020

IFS

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Training with use of mechatronic devices is an innovative rehabilitation method for patients with various locomotor dysfunction. High efficiency of training is noted in systems that combine a treadmill or orthosis with a body weight support system. Speed control is a limitation of such rehabilitation systems. In commercially available devices, the treadmill speed is constant or set by the therapist. Even better training results should be obtained for devices in which the speed of the treadmill will be automatically adjusted to the patient walking pace. This study presents a mechatronic device for locomotor training that uses an algorithm to adjust the speed of the treadmill. This speed is controlled with use of a sensor that measures the rope inclination. The end of rope is fastened to the orthopaedic harness. Speed control is realized in such a way that ensures the smallest possible swing angle of the rope. A fuzzy controller was applied to adjust the treadmill speed. The drive system of the treadmill is equipped in a servodrive with PMSM motor and energy recovery module, which allows smooth speed control, limiting acceleration and minimizing electricity consumption. The presented solution was implemented in a real object and subjected to experimental tests.

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Human Gait Analyses Using Multibody Systems Formulation: Normal and Pathological Scenarios

Cited by 2 publications

References 4 publications

Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit

Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit

Fuzzy controller for the treadmill speed adaptation system in mechatronic device for gait reeducation

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