Robot gait synthesis using the scheme of human motions skills development

Zielińska, Teresa; Chew, Chee-Meng; Kryczka, Przemyslaw; Jargilo, Tomasz

doi:10.1016/j.mechmachtheory.2008.09.007

Cited by 32 publications

(29 citation statements)

References 32 publications

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“…The researches started early overseas and mainly focused on analyzing the characteristics of the movements. Most of the results were used in athletic training, evaluation of rehabilitation exercise and the design of walk assisting device [2][3][4][5][6]. The same researches in China started relatively late, and is now mainly on the gait analysis in walking motion of the normal lower limb or the patients without any weight bearing, which are mostly used in rehabilitation evaluation [7][8][9][10].…”

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confidence: 99%

The biomechanical study of lower limb during human walking

Han

Wang

2011

Sci. China Technol. Sci.

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The coordinates of the marked points of joints and the changes of foot force in the human walk motion are obtained with systems of motion image acquisition and force measuring. The effects of kinematics and dynamics on the human lower limb in different loads (0, 10, 20, 30 kg) and walking speeds (0.8, 1.3, 1.7 m/s) have been investigated using the human dynamics model,. The results were as follows. First, with the increasing load, the dorsiflexion angle of ankle joint increased during the procedure of toe-off, the range of motion of the knee joint decreased, the flexion angle of the hip joint increased, and oppositely, the extension angle of the hip joint decreased. Second, with the increasing speed, the range of motion of the ankle joint, the maximum flexion angle of the knee joint, the flexion angle, extension angle of the hip joint and the range of motion of hip joint increased. Finally, the torque and power of the ankle joint, the knee joint and the hip joint increased with the increasing speed and load. The results can provide an important basis for the mechanism design of lower limb power-assisted exoskeleton.walking gait, dynamical model, motion analysis, load walking Citation:Han Y L, Wang X S. The biomechanical study of lower limb during human walking. Sci China Tech Sci, 2011, 54: 983−991,The motion of human walk is very complex. It is a result of synergic movement of skeleton around the joint and powered by several rhythmic muscles contraction. With the development of modern measuring technique, it is possible for us to analyze the diversification of the walking lower limb in kinematics and dynamics more precisely. Now this research work is towards a special branch of biomechanics called gait analysis [1]. The researches started early overseas and mainly focused on analyzing the characteristics of the movements. Most of the results were used in athletic training, evaluation of rehabilitation exercise and the design of walk assisting device [2][3][4][5][6]. The same researches in China started relatively late, and is now mainly on the gait analysis in walking motion of the normal lower limb or the patients without any weight bearing, which are mostly used in rehabilitation evaluation [7][8][9][10]. This paper focuses on the gait analysis of normal lower limb with different loads and walking speeds, and aims at instructing the design of the power-assisted walking exoskeleton. The exoskeleton should be placed in parallel with the lower limb and match the degrees of freedom of joints. But if all the joints are powered, not only a lot of energy will be consumed but also the complexity of the control system will increase. As shown in the existing researches [11], in different stages of walk, the joint power may be positive or negative. The purpose on saving energy can be achieved by releasing the energy of positive power which is stored in a negative stage. So the work conditions of the joints should be studied while the joint torque and the joint power in the walking can also be obtained by biomechanical st...

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The biomechanical study of lower limb during human walking

Han

Wang

2011

Sci. China Technol. Sci.

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“…There is the research [1], [13], [14] on compliant structures conducted by our group. Simple model of the foot with one spring located near to the ankle joint was proposed and applied in small humanoid (Fig.…”

Section: Fig 2 Human Foot Arch Ac Ng As An Impacts Dampermentioning

confidence: 99%

“…Recorded by us [13] gait pattern was used. Gait was recorded for slow walk of a typical 50-centile man (1.75m tall) using VICON system.…”

Section: Gait Pa Ernmentioning

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The Role of Compliant Elements in Two-Legged Robot’s Foot Model

Zurawska

Zielińska

Szumowski

2015

JAMRIS

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“…[19]; therefore, we will give here only the summary of it. The fitness function consisted of the sum of square errors between generated and measured leg joint angles:…”

Section: Motion Patternmentioning

confidence: 99%

Biologically inspired motion synthesis method of two-legged robot with compliant feet

Zielińska

Chmielniak

2011

Robotica

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This work presents biologically inspired method of gait generation. It uses the reference to the periodic signals generated by biological central pattern generator. The coupled oscillators with correction functions are used to produce leg joint trajectories. The human gait is the reference pattern. The features of generated gait are compared to the human walk. The spring-loaded foot design is presented together with experimental results.

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Robot gait synthesis using the scheme of human motions skills development

Cited by 32 publications

References 32 publications

The biomechanical study of lower limb during human walking

The biomechanical study of lower limb during human walking

The Role of Compliant Elements in Two-Legged Robot’s Foot Model

Biologically inspired motion synthesis method of two-legged robot with compliant feet

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