Adaptability in a bipedal exoskeleton control task for assisted physiotherapy
Abstract
Robot-assisted physiotherapy represents one of the best treatment alternatives due to the precision and adaptability not only in the human-robot interaction forces, but also in the amplitude and frequency modulation of the reference trajectories. In this article, a modulation principle of the bipedal gait cycle is established, on the sagittal plane, and particularly focused on hip and knee bone structures. One of the contributions responds to the design of space-time polynomials from the gait pattern originally defined as a percentage of the cycle. The source of modulation is established from effort or intention. The robotic system used in the simulation is inspired by the Lokomat Robot in closed loop with PD plus control. The main objective of the work is characterized the joint performance of the hip and knee of both lower extremities during the gait cycle, through the polynomial approximation of the joint function of said references. The characteristic curve serves as a reference
for the automatic control of a robotic physical therapy assistance system. Evidence of controller tracking and normal gait pattern synthesis is shown.
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References
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