Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people  

作　　者：Donghai WANG 

机构地区：[1]State Key Laboratory of Digital Manufacturing Equipmen and Technology Huazhong University of Seience and Technology,Wuhan 430074,China [2]Guangdong Sygole Intelligent Technology Co.,Ltd.,Dongguan 523808,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2022年第6期920-936,共17页信息与电子工程前沿（英文版）

基　　金：the National Natural Science Foundation of China(No.51705167);the Dongguan Introduction Program of Leading Innovative and Entrepreneurial Talents。

摘　　要：This paper presents a sensor-guided gait-synchronization system to help potential unilateral knee-injured people walk normally with a weight-supported lower-extremity-exoskeleton(LEE).This relieves the body weight loading on the knee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of walking.The sensor-guided gait-synchronization system is integrated with a body sensor network designed to sense the motion/gait of the healthy leg.Guided by the measured joint-angle trajectories,the motorized hip joint lifts the links during walking and synchronizes the knee-injured gait with the healthy gait by a half-cycle delay.The effectiveness of the LEE is illustrated experimentally.We compare the measured joint-angle trajectories between the healthy and knee-injured legs,the simulated knee forces,and the human-exoskeleton interaction forces.The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined body-weight-supported LEE and injured leg with that of the healthy leg.

关 键 词：Sensor-guided Lower-extremity-exoskeleton Body sensor network Gait synchronization Weight-support 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]