A wearable lightweight lower-limb exoskeleton (LLEX) robot that can help paraplegic patients perform daily activities such as standing/sitting, walking, stair ascending/descending is proposed in this paper firstly. In order to ensure comfort between the exoskeleton and the wearer, a novel configuration of the exoskeleton robot that combines active and passive joints, adaptive structure size, and high compatibility with human physiological parameters is proposed. Secondly, this paper proposes a dynamic gait planning algorithm for stairs ascending and descending based on hip and ankle motion position planning, which is implemented to LLEX. It is intended to provide paraplegic patients with personalized gaits for independently ascending/descending stairs of diverse sizes with the help of LLEX. The system employs the inertial measurement unit (IMU) module located on the back to identify the wearer’s movement intention while using the depth camera located on the front of the LLEX to detect heights and depths of different stairs for a dynamic gait. Experiments have been carried out to prove the feasibility and pervasiveness of the gait planning algorithm. The application of LLEX can help patients with various physiological characteristics to complete the task of ascending and descending stairs.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Bionic Mechanical Design and Stair Ascending/Descending Gait Planning of A Lower-limb Exoskeleton Robot


    Contributors:
    Yan, Zefeng (author) / Li, Nan (author) / Long, Xingguo (author) / Ren, Hao (author) / Wu, Xinyu (author)


    Publication date :

    2018-10-01


    Size :

    1401427 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    STAIR-ASCENDING/-DESCENDING DEVICE

    IIDA CHIKA / NANZAWA TAKESHI / SEKINE SHINICHI et al. | European Patent Office | 2018

    Free access

    STAIR ASCENDING/DESCENDING ASSIST DEVICE

    KASHIYAMA KAZUHISA / YAMAUCHI NOBUYOSHI | European Patent Office | 2019

    Free access

    STAIR ASCENDING/DESCENDING WORK DEVICE

    SHIMURA YUJI | European Patent Office | 2023

    Free access

    ASCENDING/DESCENDING ASSISTING DEVICE FOR STAIR

    KUMAI KOJI | European Patent Office | 2017

    Free access

    Stair ascending and descending auxiliary device

    LI WENFENG / LIU JUN / LIU XING et al. | European Patent Office | 2020

    Free access