Generation of a gait pattern for a lower limb rehabilitation exoskeleton

• Olga Jarzyna ^[1] ; Dariusz Grzelczyk ^[1] ; Bartosz Stanczyk ^[1] ; Jan Awrejcewicz ^[1]
  1. [1] Lodz University of Technology

     Lodz University of Technology

     Łódź, Polonia

     
• Localización: Mechanics based design of structures and machines, ISSN 1539-7734, Vol. 49, Nº. 8, 2021, págs. 1188-1208
• Idioma: inglés
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• Resumen

  • In this article, a simple prototype and control system of a lower limb exoskeleton driven by stepper motors was proposed. To study kinematic parameters of the device, a general, three-dimensional simulation model of the exoskeleton was developed. Moreover, a gait pattern was modeled for hip, knee, and ankle joints. It represents sagittal plane angular positions of joints during normal gait and consists of three piecewise-defined sinesquare-based functions. It is based on the experimental gait data recorded with an optoelectronic motion capture system for a healthy subject walking on a treadmill. Although the developed pattern is intended to be implemented in a control system of a lower limb exoskeleton for gait rehabilitation, it can be used to control bipedal robots as well. Last but not least, the control approach was tested with the exoskeleton prototype.