Development of real-time gait phase detection system for a lower extremity exoskeleton robot

In this paper, we develop an insole sensor system that can determine various dynamic models of a lower extremity exoskeleton. The study analyzed the kinematic model of exoskeleton robot for lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (...

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Bibliographic Details
Published inInternational journal of precision engineering and manufacturing Vol. 18; no. 5; pp. 681 - 687
Main Authors Lim, Dong-Hwan, Kim, Wan-Soo, Kim, Ho-Jun, Han, Chang-Soo
Format Journal Article
LanguageEnglish
Published Seoul Korean Society for Precision Engineering 01.05.2017
Springer Nature B.V
Subjects
Dynamic models
Engineering
Exoskeletons
Gait
Industrial and Production Engineering
Materials Science
Regular Paper
Sensors
Vertical ground reaction force (vGRF)
Lower extremity exoskeleton robot
Center of pressure (COP)
Gait phase detection
Insole sensor
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Summary:In this paper, we develop an insole sensor system that can determine various dynamic models of a lower extremity exoskeleton. The study analyzed the kinematic model of exoskeleton robot for lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF) that is generated when walking, the sensing type, location, and the number of sensors were selected to proceed on insole sensor development. Using the COP, an algorithm was developed that is capable of detecting gait phase with small number of sensors. An experiment was conducted to evaluate the developed insole sensor system and the gait phase detection algorithm.
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ISSN:2234-7593
2005-4602
DOI:10.1007/s12541-017-0081-9