Mechanical design of powered prosthetic leg and walking pattern generation based on motion capture data

Yang, Un‐Je; Kim, Jung-Yup

doi:10.1080/01691864.2015.1026939

Cited by 27 publications

(5 citation statements)

References 9 publications

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“…Accurate orientation estimating plays an essential role in aerospace, robotics, navigation and healthcare-related applications. In healthcare-related applications, motion tracking is a key technology for analysis of rehabilitation treatment [ 1 ], fall detection [ 2 ] for the safety of elderly people, rehabilitation robots [ 3 ], and diagnosis for some muscular dystrophy diseases. To determine the orientation of human body, several motion-tracking technologies have been developed, including mechanical, LIDAR motion trackers, optical motion-tracking system, and inertial/magnetic motion-tracking system.…”

Section: Introductionmentioning

confidence: 99%

Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking

Guo

et al. 2018

Sensors

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Rigid body orientation determined by IMU (Inertial Measurement Unit) is widely applied in robotics, navigation, rehabilitation, and human-computer interaction. In this paper, aiming at dynamically fusing quaternions computed from angular rate integration and FQA algorithm, a quaternion-based complementary filter algorithm is proposed to support a computationally efficient, wearable motion-tracking system. Firstly, a gradient descent method is used to determine a function from several sample points. Secondly, this function is used to dynamically estimate the fusion coefficient based on the deviation between measured magnetic field, gravity vectors and their references in Earth-fixed frame. Thirdly, a test machine is designed to evaluate the performance of designed filter. Experimental results validate the filter design and show its potential of real-time human motion tracking.

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Section: Introductionmentioning

confidence: 99%

Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking

Guo

et al. 2018

Sensors

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“…Based on the analysis performed, as well as the data presented in the works [16][17][18], the time for obtaining data from the sensors and calculating the center of applied pressure area to the foot should be in the range of up to 10 ms for the robot's control system to respond sufficiently and to create a stable gait.…”

Section: Introductionmentioning

confidence: 99%

Signal processing of capacitive force sensors installed in the foot of an anthropomorphic robot

Krestovnikov

Erashov

2022

ICS

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Introduction: The force-moment sensing of the functional surfaces in robots based on compact capacitive force sensors can significantly improve interaction with the environment and humans. Capacitive force sensors provide high measurement accuracy and speed, but the electromagnetic interference can affect significantly the signal. When processing signals the influence of external noise must be taken into account, which increases the computation time. Purpose: To apply the developed interface circuit for processing signals from capacitive primary force transducers in a real-world robot. Results: Experimental verification of the developed solutions implied simulation of a step of the pedipulator of an anthropomorphic robot with the calculation of the coordinates of the center of pressure exerted on the foot with the four installed capacitive sensors. Software filtering and measuring capabilities of the microcontroller made it possible to achieve a signal-to-noise ratio of approximately 62.24 dB, which allows a closed-loop control system to function correctly. The average time for calculating the coordinates of the center of pressure on the foot with software filtering of the signal on the on-board computer of the robot was from 3.1 to 6.1 ms and meets the requirements for the sensory system of a walking robot. Practical relevance: The interface circuit allows to scale the number of connected primary force transducers, while software processing allows to normalize transducer signals by applying the calculated correction factors. Proposed solutions can be used in different robotic systems for real-time force measurement.

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“…They can effectively resolve the shortcomings of traditional prostheses such as high metabolic consumption of the prosthetic wearers, high gait coordination error, poor wearability, and low degree of freedom. Sup et al [3] proposed a gait controller in a designed powered transfemoral prosthesis, which uses passive impedance to coordinate the prosthetic motion. Yang and Kim [4] designed an above-knee powered prosthetic leg and an algorithm to achieve suitable gait recognition synchronized with the motion of the prosthetic wearer.…”

Section: Introductionmentioning

confidence: 99%

Design method and verification of a hybrid prosthetic mechanism with energy-damper clutchable device for transfemoral amputees

Guo

Oliveira

et al. 2021

Front. Mech. Eng.

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Transfemoral amputees (TAs) have difficulty in mobility during walking, such as restricted movement of lower extremity and body instability, yet few transfemoral prostheses have explored human-like multiple motion characteristics by simple structures to fit the kinesiology, biomechanics, and stability of human lower extremity. In this work, the configurations of transfemoral prosthetic mechanism are synthesized in terms of human lower-extremity kinesiology. A hybrid transfemoral prosthetic (HTP) mechanism with multigait functions is proposed to recover the gait functions of TAs. The kinematic and mechanical performances of the designed parallel mechanism are analyzed to verify their feasibility in transfemoral prosthetic mechanism. Inspired by motion—energy coupling relationship of the knee, a wearable energy-damper clutched device that can provide energy in knee stance flexion to facilitate the leg off from the ground and can impede the leg’s swing velocity for the next stance phase is proposed. Its co-operation with the springs in the prismatic pairs enables the prosthetic mechanism to have the energy recycling ability under the gait rhythm of the knee joint. Results demonstrate that the designed HTP mechanism can replace the motion functions of the knee and ankle to realize its multimode gait and effectively decrease the peak power of actuators from 94.74 to 137.05 W while maintaining a good mechanical adaptive stability.

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Mechanical design of powered prosthetic leg and walking pattern generation based on motion capture data

Cited by 27 publications

References 9 publications

Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking

Estimating Three-Dimensional Body Orientation Based on an Improved Complementary Filter for Human Motion Tracking

Signal processing of capacitive force sensors installed in the foot of an anthropomorphic robot

Design method and verification of a hybrid prosthetic mechanism with energy-damper clutchable device for transfemoral amputees

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