Background Restoration of both normal movement of the pelvis and centre of mass is a primary goal of walking rehabilitation in post-stroke patients because these movements are essential components of effective gait. T...Background Restoration of both normal movement of the pelvis and centre of mass is a primary goal of walking rehabilitation in post-stroke patients because these movements are essential components of effective gait. The aim of this study is to quantitatively analyze the effect of ankle-foot orthosis on walking ability, and to investigate the correlation between improvements in trunk motion and walking capacity.展开更多
This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decouplin...This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous.展开更多
We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion-extension and abduction-adduction,and its theoretical and simulation-based kinematics were verified.Because internal-e...We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion-extension and abduction-adduction,and its theoretical and simulation-based kinematics were verified.Because internal-external hip rotation has a positive effect on the movements of human lower limbs according to medical research,we developed a novel hip prosthetic mechanism based on a previous hip prosthesis that possesses motion characteristics similar to those of a human bionic hip,and the motion characteristics of multiple Degrees-of-Freedom(DoFs)were analyzed after kinematic modeling.Then,a walking model of the human‒machine model was established,and the walking stability of an amputee,which reflects the rehabilitation effect,was explored while the hip prosthetic mechanism considered the internal-external rotation of the hip.Finally,a prototype and its verification platform were built,and kinematic validation of the hip prosthetic mechanism was carried out.The results showed that the designed Parallel Mechanism(PM)possesses human-like motion characteristics similar to those of a human bionic hip and can be used as a hip prosthesis.Moreover,the existing motion characteristic of internal-external hip rotation can enhance the walking stability of an amputee via this hip prosthetic mechanism.展开更多
文摘Background Restoration of both normal movement of the pelvis and centre of mass is a primary goal of walking rehabilitation in post-stroke patients because these movements are essential components of effective gait. The aim of this study is to quantitatively analyze the effect of ankle-foot orthosis on walking ability, and to investigate the correlation between improvements in trunk motion and walking capacity.
文摘This paper presents a novel design of minimalist bipedal walking robot with flexible ankle and split-mass balancing systems.The proposed approach implements a novel strategy to achieve stable bipedal walk by decoupling the walking motion control from the sideway balancing control.This strategy allows the walking controller to execute the walking task independently while the sideway balancing controller continuously maintains the balance of the robot.The hip-mass carry approach and selected stages of walk implemented in the control strategy can minimize the efect of major hip mass of the robot on the stability of its walk.In addition,the developed smooth joint trajectory planning eliminates the impacts of feet during the landing.In this paper,the new design of mechanism for locomotion systems and balancing systems are introduced.An additional degree of freedom introduced at the ankle joint increases the sensitivity of the system and response time to the sideway disturbances.The efectiveness of the proposed strategy is experimentally tested on a bipedal robot prototype.The experimental results provide evidence that the proposed strategy is feasible and advantageous.
基金the financial support provided by the Key Research and Development Program of Zhejiang Province under Grant 2021C03050in part by the Scientific Research Project of Agriculture and Social Development of Hangzhou under Grant 2020ZDSJ0881+1 种基金in part by the National Natural Science Foundation of China under Grant 52275004in part by the State Key Program of National Natural Science Foundation of China under Grant 62333023.
文摘We previously developed a powered hip prosthetic mechanism with kinematic functions of hip flexion-extension and abduction-adduction,and its theoretical and simulation-based kinematics were verified.Because internal-external hip rotation has a positive effect on the movements of human lower limbs according to medical research,we developed a novel hip prosthetic mechanism based on a previous hip prosthesis that possesses motion characteristics similar to those of a human bionic hip,and the motion characteristics of multiple Degrees-of-Freedom(DoFs)were analyzed after kinematic modeling.Then,a walking model of the human‒machine model was established,and the walking stability of an amputee,which reflects the rehabilitation effect,was explored while the hip prosthetic mechanism considered the internal-external rotation of the hip.Finally,a prototype and its verification platform were built,and kinematic validation of the hip prosthetic mechanism was carried out.The results showed that the designed Parallel Mechanism(PM)possesses human-like motion characteristics similar to those of a human bionic hip and can be used as a hip prosthesis.Moreover,the existing motion characteristic of internal-external hip rotation can enhance the walking stability of an amputee via this hip prosthetic mechanism.
