Lower-limb exoskeletons have attracted considerable interest because they can provide impaired individuals with the ability to walk upright. Trajectory generation of walking gait is a crucial issue for lower-limb that has not yet been satisfactorily solved. The purpose this article study stable method considering subjective intention. Inspired by motion synergy between crutches and lower limbs,...

New motor rehabilitation therapies include virtual reality (VR) and robotic technologies. In limb rehabilitation, limb posture is required to (1) provide a limb realistic representation in VR games and (2) assess the patient improvement. When exoskeleton devices are used in the therapy, the measurements of their joint angles cannot be directly used to represent the posture of the patient limb, ...

Individuals with tetraplegia have loss of motor function in both their upper and lower extremities. Research is being conducted into the development of an exoskeleton to cater for the tetraplegic user. An exoskeleton system has the advantage of assisting disabled or rehabilitating patients without the need of surgery. This paper includes the conceptual design of an upper and lower limb exoskele...

Abstract To address the issue of motion coordination in lower limb exoskeleton rehabilitation robots, and to meet basic characteristics ergonomics human kinematics, a humanoid design was adopted robot. The Denavit- Hartenberg (D-H) mathematical model robot established, each joint were analyzed obtain D-H parameters during process. from perspectives forward kinematics inverse kinematics. variati...

We used a lower limb robotic exoskeleton controlled by the wearer's muscle activity to study human locomotor adaptation to disrupted muscular coordination. Ten healthy subjects walked while wearing a pneumatically powered ankle exoskeleton on one limb that effectively increased plantar flexor strength of the soleus muscle. Soleus electromyography amplitude controlled plantar flexion assistance ...

BACKGROUND In this paper we propose the use of global Kalman filters (KFs) to estimate absolute angles of lower limb segments. Standard approaches adopt KFs to improve the performance of inertial sensors based on individual link configurations. In consequence, for a multi-body system like a lower limb exoskeleton, the inertial measurements of one link (e.g., the shank) are not taken into accoun...

Gait phase is widely used for gait trajectory generation, gait control and gait evaluation on lower-limb exoskeletons. So far, a variety of methods have been developed to identify the gait phase for lower-limb exoskeletons. Angular sensors on lower-limb exoskeletons are essential for joint closed-loop controlling; however, other types of sensors, such as plantar pressure, attitude or inertial m...