Simulation of exoskeleton ZMP during walking for balance control

Yang, Wei; Yang, Canjun; Chen, Yanhu; Xu, Linghui

doi:10.1109/icmimt.2018.8340443

Cited by 11 publications

(5 citation statements)

References 9 publications

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“…(1) A parameterized dynamic model of the mechanical system was established by using interactive graphics environment, part library, constraint library, and force library. When building the model, ADAMS can customize the material density, stiffness, elastic deformation, gravity acceleration, and name of each component (2) The analysis of parametric model of the mechanical system mainly includes static analysis, kinematics analysis, quasistatic analysis, linear and nonlinear dynamic analysis, and automatic detection of the degree of freedom of the mechanism…”

Section: Zmp-based Gait Planning Of Wearable Lower Limbmentioning

confidence: 99%

“…According to clinical medicine, under the guidance of therapists, patients can improve and restore the motor function of injured limbs through reasonable training of rehabilitation equipment [2], but it must be carried out on the premise of drug treatment and surgery. Through reasonable rehabilitation training, the following functions can be achieved: (l) stimulate muscle movements through reasonable patterns to stimulate nerves; (2) exercise forces muscles to stretch and compress, which increases the pressure of meridian reflux and improves blood circulation; and (3) increase the activity of limbs and joints and maintain the motor function of limbs and joints, so as to improve the ability of walking and coordination of limbs. With the help of rehabilitation equipment, the motor function of limb injury patients has been greatly improved, and finally, they return to real life in the best state.…”

Section: Introductionmentioning

confidence: 99%

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The Wearable Lower Limb Rehabilitation Exoskeleton Kinematic Analysis and Simulation

Peng

et al. 2022

BioMed Research International

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In recent years, due to the increase in the incidence of traffic accidents, the number of people with limb injuries has also increased. At the same time, among the aging population, neurological diseases or cardiovascular and cerebrovascular diseases have caused many people to have limb hemiplegia. It has been clinically proven that the use of rehabilitation equipment can help patients with limb injuries to restore limb motor function. This paper takes wearable lower limb rehabilitation exoskeleton as the research object, and its main contents are mechanical structure design, kinematics analysis, gait planning, virtual prototype simulation, and experimental verification and analysis. Based on the physiological characteristics of human body and the principle of comfortable and reliable wearing, this paper designs wearable exoskeleton for lower limb rehabilitation. Firstly, the physiological structure characteristics and movement mechanism of human lower limbs were studied and analyzed. By referring to the rotation range and height and size of each joint of human lower limbs, the overall scheme of wearable lower limb rehabilitation exoskeleton was designed and the degree of freedom was allocated. At the same time, Solidworks was used to establish a three-dimensional model. On the basis of a 3D model, a kinematics model was established, and the forward kinematics solution was obtained by using homogeneous coordinate transformation. Since the inverse kinematics solution was relatively complicated, the inverse kinematics solution was conducted in this paper according to the geometric relations of the joints of the lower limbs. Kinematics analysis of the exoskeleton structure of wearable lower limb rehabilitation was carried out to lay a theoretical foundation for gait planning. The off-line gait planning was carried out by using the method based on ZMP stability criterion, and the gait planning was divided into five stages: squat, start, middle step, stop and rise, and the motion trajectory of the center of mass and ankle joint was planned. Based on the inverse kinematics formula, the function of the change of joint angle with time in walking process is derived. The virtual prototype is established in ADAMS, and the simulation of virtual prototype is carried out by using the function of gait planning’s joint angle and time. The correctness of structural design and gait planning was verified by measuring the trajectories of the centroid and ankle joints in each gait stage and the functional relationship between the rotation angle of each joint and time. Then, using a 3D dynamic capture system to capture the human lower limb motion trajectory of each joint, each joint trajectory data output, using the MATLAB software to output data, gets the joint trajectory change over time function curve and is used to verify feasibility and applicability of human gait planning. Through the research and analysis of the joints of the lower limbs of the human body, it can be concluded that the hip joint and the knee joint have 3 degrees of freedom, respectively, and the knee joint has 1 degree of freedom.

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Section: Zmp-based Gait Planning Of Wearable Lower Limbmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The Wearable Lower Limb Rehabilitation Exoskeleton Kinematic Analysis and Simulation

Peng

et al. 2022

BioMed Research International

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“…Currently, there are many ways to control robot body balance. The classical control methods include Zero Moment Point (ZMP) [6][7][8], Virtual Model Control (VMC) [9][10][11], Central Pattern Generator (CPG) [12,13], and Spring Loaded Inverted Pendulum (SLIP) [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

et al. 2022

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To balance the diagonal gait of a quadruped robot, a dynamic balance control method is presented to improve the stability of the quadruped robot by adjusting its foot position. We set up a trunk-based coordinate system and a hip-based local coordinate system for the quadruped robot, established the kinematics equation of the robot, and designed a reasonable initial diagonal gait through the spring inverted pendulum model. The current trunk posture of the quadruped robot is obtained by collecting the data of its pitch and roll angle, and the foot position is predicted according to the current posture and initial gait of the quadruped robot. To reduce the impact of one leg landing on the ground and increase the stability of the quadruped robot, we adjust the landing point of the robot according to the landing time difference between the diagonal legs. The proposed method can adjust the body in such scenarios as planar walking and lateral impact resistance. It can reduce the disturbance during the robot motion and make the robot move smoothly. The validity of this method is verified by simulation experiments.

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“…These researches have limitations that make the wearer unconfortable during walking as well as keep the crutches beside them all time. Some other researches focused on solving the balance issue without using any assistive devices during walking such as in [6,7,8].…”

Section: Introductionmentioning

confidence: 99%

Motion Planning of Assistive Exoskeleton in Human’s Locomotion Rehabilitation

KA¹

2021

jst-iuh

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Researches on rehabilitation exoskeleton system have bee n implementing in recent decades and have been achieving many advantages. However, most of reseaches have focused on more simplified systems such as rehabilitation exoskeleton for one or two joints or for one paralysed leg with the purpose of recovering human’s locomotion pattern. Researches on rehabilitation exoskeleton using for whole two paralysed legs are limited because of the complexity of balance issue for a combined human – exoskeleton system. Therefore, crutches are used to prevent the human from falling during human’s walking in recent researches. In order to abandon the crutches and help to recover human’s nomal walking pattern, the balance problem of combined human-exoskeleton system must be considered in control algorithm. In this paper, we build a motion path for a combined human-exoskeleton ensuring that the combined human-exoskeleton system can move in a balanced area. Our proposed paths are validated in the control algorithm for the HUALEX exoskeleton system in University of Electronic Science and Technology of China (UESTC).

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Simulation of exoskeleton ZMP during walking for balance control

Cited by 11 publications

References 9 publications

The Wearable Lower Limb Rehabilitation Exoskeleton Kinematic Analysis and Simulation

The Wearable Lower Limb Rehabilitation Exoskeleton Kinematic Analysis and Simulation

Balance Control of a Quadruped Robot Based on Foot Fall Adjustment

Motion Planning of Assistive Exoskeleton in Human’s Locomotion Rehabilitation

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