Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot

Abstract To accommodate the gait and balance disorder of elderly with age progression occurrence various senile diseases, this paper proposes a novel training robot (G-Balance) based on six degree-of-freedom parallel platform. Using platform movement IMU wearable sensors, two modes, i.e., active passive, are developed to achieve vestibular stimulation. Virtual reality technology is applied visual In mode, actively exercises control posture change switching virtual scene. passive combined scene simulate bumpy environments, such as earthquakes, enhance human anti-interference ability. smooth scene, continuous speed acceleration motion required in some scenarios, which trajectory planning algorithm applied. This describes application mode optimization jerk (differential acceleration) cubic spline planning, can reduce impact joint stability.