Dynamic motion planning for the design of robotic gait rehabilitation.
Dynamic motion planning for the design of robotic gait rehabilitation.
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DOI：
10.1115/1.1979507
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发表时间：
2005-08
期刊：
影响因子：
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通讯作者：
Chia-Yu E. Wang;J. Bobrow;D. Reinkensmeyer
中科院分区：
文献类型：
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作者：
Chia-Yu E. Wang;J. Bobrow;D. Reinkensmeyer
在本文中，我们研究了一种方法来控制一个瘫痪的人暂停在跑步机上使用的机器人连接到骨盆的步进运动。腿部摆动是通过移动骨盆而不与腿部接触来产生的。该问题被制定为欠驱动铰接链的最优控制问题。将最优控制问题转化为离散参数优化问题，采用基于梯度的算法求解，并将运动捕捉数据与动态运动优化的仿真结果进行了比较。我们的研究结果表明，这是可行的驱动重复踩在跑步机上的瘫痪的人通过协助躯干运动单独。优化后的骨盆运动策略与下肢假肢或轻偏瘫患者使用的“臀部远足”步态策略相当。由此产生的运动可以在网站http://ww.eng.uci.edu/-chwang/project/stepper/stepper.html上找到。
In this paper we examine a method to control the stepping motion of a paralyzed person suspended over a treadmill using a robot attached to the pelvis. A leg swing motion is created by moving the pelvis without contact with the legs. The problem is formulated as an optimal control problem for an underactuated articulated chain. The optimal control problem is converted into a discrete parameter optimization and an efficient gradient-based algorithm is used to solve it. Motion capture data from an unimpaired human subject is compared to the simulation results from the dynamic motion optimization. Our results suggest that it is feasible to drive repetitive stepping on a treadmill by a paralyzed person by assisting in torso movement alone. The optimized, pelvic motion strategies are comparable to "hip-hiking" gait strategies used by people with lower limb prostheses or hemiparesis. The resulting motions can be found at the web site http://ww.eng.uci.edu/-chwang/project/stepper/stepper.html.