Ground Collision-Free Motion for Gait Rehabilitation

Title
Ground Collision-Free Motion for Gait Rehabilitation
Authors
홍지수전창묵김승종박종우
Issue Date
2015-08
Publisher
Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Abstract
We present an alternative method of modification of a given gait motion to prevent possible collision between foot and ground during gait training on rehabilitation robots with an exo-skeleton, such as COWALK [2]. Recently, Chun et al. [1] present Gaussian Process-based gait motion generation framework for gait rehabilitation. However, the method does not guarantee a motion free from ground-collision. Sometimes, even a collision-free motion in numerical simulation results in grazing or collision of swinging toes against ground or treadmill due to the error in the kinematic model of lower body. In this paper, we describe a method to prevent the collision by giving user defined clearance to lift the foot. Also, the amount of modification increases from and decreases to zero gradually, so that the resulting motion changes smoothly.
URI
http://pubs.kist.re.kr/handle/201004/50806
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE