In this paper construction of CIE Exoskeleton is presented. CIE Exoskeleton is equipped with four actuated joints in hips and knees, which is minimal set of actuators to enable paraplegic operators to walk in exoskeleton with use of crutches. Moreover, we proposed a novel statically stable gait pattern which can be used by paraplegic subjects to restore locomotion even the exoskeleton ankle joint is not actuated. Proposed gait trajectory enables to shift center of pressure form a rear leg to a forward leg without leaving a stable pose. Furthermore the preliminary results of tests on planar gait trajectory planing accuracy were presented. Preliminary tests on accuracy of planar gait trajectory planing indicate that a step length cannot be estimated only from planar model due to pelvis or exoskeleton rotation during walking. It was shown that this effect can be partially compensated by using a linear correction function.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Gait Trajectory Planing for CIE Exoskeleton


    Additional title:

    Advs in Intelligent Syst., Computing




    Publication date :

    2015-01-01


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    'Trajectory Predictions for High Speed Planing Craft'

    Lewandowski, E.M. | Online Contents | 1994


    Trajectory predictions for high speed planing craft

    Lewandowski, E.M. | Tema Archive | 1994


    Monitoring upper limbs during exoskeleton-assisted gait outdoors

    Lancini, Matteo / Pasinetti, Simone / MONTINI, VALERIA et al. | BASE | 2019

    Free access

    Investigation of Person's Gait with Lower-Limb Exoskeleton

    Yatsun, Andrey S. / Jatsun, Sergey F. | IEEE | 2018


    Gait phase prediction for lower limb exoskeleton robots

    Wu, Guizhong / Wang, Can / Wu, Xinyu et al. | IEEE | 2016