Gait simulation via a 6-DOF parallel robot with iterative learning control
Gait simulation via a 6-DOF parallel robot with iterative learning control
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DOI：
10.1109/tbme.2007.908072
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发表时间：
2008-03-01
影响因子：
4.6
通讯作者：
Ledoux, William R.
中科院分区：
文献类型：
--
作者：
Aubin, Patrick M.;Cowley, Matthew S.;Ledoux, William R.
我们已经开发了一个机器人步态模拟器（RGS）的6自由度并联机器人，克服步态模拟的三个重大挑战的目标，包括：1）在生理正确的速度附近操作; 2）输入全尺寸地面反作用力;和3）模拟运动在所有三个平面（矢状面，冠状面和横向）。该机器人最终将用于尸体标本，但作为探索该系统能力的一种手段，我们首先将其用于假肢脚。步态数据记录从一个经胫骨截肢使用运动分析系统和力板。使用相同的假肢脚作为主题，RGS准确地再现记录的运动学和动力学和适当的垂直地面反作用力实现与比例迭代学习控制器。经过六次步态迭代的控制器减少了模拟和原位垂直地面反作用力之间的均方根（RMS）误差为35 N，在1.5 s的模拟步态的站立阶段与假肢脚。本文讨论了新的RGS的设计，方法和验证。
We have developed a robotic gait simulator (RGS) by lever-aging a 6-degree of freedom parallel robot, with the goal of overcoming three significant challenges of gait simulation, including: 1) operating at near physiologically correct velocities; 2) inputting full scale ground reaction forces; and 3) simulating motion in all three planes (sagittal, coronal and transverse). The robot will eventually be employed with cadaveric specimens, but as a means of exploring the capability of the system, we have first used it with a prosthetic foot. Gait data were recorded from one transtibial amputee using a motion analysis system and force plate. Using the same prosthetic foot as the subject, the RGS accurately reproduced the recorded kinematics and kinetics and the appropriate vertical ground reaction force was realized with a proportional iterative learning controller. After six gait iterations the controller reduced the root mean square (RMS) error between the simulated and in situ vertical ground reaction force to 35 N during a 1.5 s simulation of the stance phase of gait with a prosthetic foot. This paper addresses the design, methodology and validation of the novel RGS.