Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure

Sensors, 2020 · DOI: 10.3390/s20247216 · Published: December 16, 2020

Assistive Technology Biomedical Biomechanics

Simple Explanation

This paper presents a method for planning the gait of a lower limb exoskeleton used with crutches, focusing on maintaining balance. The method uses the combined center of pressure (CoP) from the crutches and the exoskeleton feet to determine stable steps and adjust stride length. Tests with healthy volunteers showed the system can adapt to sensed signals and plan steps that promote balanced and smooth walking.

Study Duration

Not specified

Participants

Five healthy volunteers

Evidence Level

Not specified

Key Findings

1
The gait planning algorithm effectively processes sensory information to determine suitable landing points for balanced walking.
2
Experiments suggest the algorithm improves human-machine interaction by adapting the exoskeleton gait to the user's balance.
3
A linear mapping function between the combined CoP and stride length was found to be suitable for subjects to learn crutch landing point control.

Research Summary

This paper introduces a gait planning algorithm for lower limb exoskeletons that uses crutches, focusing on balance control based on the combined Center of Pressure (CoP). The algorithm determines the next stride length by considering the CoP generated by the crutches and the exoskeleton's feet, ensuring balance in subsequent steps. Experiments with healthy volunteers demonstrate the algorithm's ability to adapt to sensory input and plan steps that promote smooth and balanced walking, leading to improved human-machine interaction.

Practical Implications

Improved Human-Machine Interaction

The gait planning algorithm adapts to the user's balance, leading to more natural and coordinated movement.

Potential for Independent Walking

The system can be used to train SCI patients to improve their walking stability and reduce their reliance on crutches.

Adaptive Gait Planning

The online gait planning allows for real-time adjustments based on the user's current state and environmental conditions.

Study Limitations

1
The relationship between the combined CoP and stride length is simplified to a linear mapping, which may not fully capture the complexity of human behavior.
2
The study only included healthy volunteers, and further testing is needed with paraplegic patients to verify the improvement of walking balance.
3
The crutch model could be improved to consider it in the X-Y-Z coordinate.

Your Feedback

Was this summary helpful?

Back to Assistive Technology