THESIS
2021
1 online resource (ix, 37 pages) : illustrations (some color)
Abstract
Recently, the lower limb exoskeletons which provide mobility for paraplegic patients to
support their daily life have drawn much attention. However, the pilots are required to
apply excessive force through a pair of crutches to maintain balance during walking. This
thesis proposes a novel gait trajectory generation algorithm for exoskeleton locomotion
on flat ground and stair which aims to minimize the force applied by the pilot without
increasing the degree of freedom (DoF) of the system. First, the system is modelled as a
five-link mechanism dynamically for torque computing. Then, an optimization approach
is used to generate the trajectory minimizing the ankle torque which is correlated to
the supporting force. Finally, experiments are conducted to compare the different gait
generatio...[
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Recently, the lower limb exoskeletons which provide mobility for paraplegic patients to
support their daily life have drawn much attention. However, the pilots are required to
apply excessive force through a pair of crutches to maintain balance during walking. This
thesis proposes a novel gait trajectory generation algorithm for exoskeleton locomotion
on flat ground and stair which aims to minimize the force applied by the pilot without
increasing the degree of freedom (DoF) of the system. First, the system is modelled as a
five-link mechanism dynamically for torque computing. Then, an optimization approach
is used to generate the trajectory minimizing the ankle torque which is correlated to
the supporting force. Finally, experiments are conducted to compare the different gait
generation algorithms through measurement of ground reaction force (GRF) applied on
the crutches.
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