This paper introduces a novel exoskeleton system for gait rehabilitation, which allows natural pelvic movements. The developed lower extremity exoskeleton system, COWALK, has 14 degrees of freedom including four degrees of freedom for pelvic motion. From 113 healthy human subjects, 3D motion capture data were collected to determine mechanical design parameters and to generate gait patterns for the COWALK system. In order to reduce the affect of the weight of the robot, a gravity compensator was installed to support the weight of the robot. The performance of the COWALK system was validated by experiments. The experimental results from joint trajectories and pelvis movements show that the developed exoskeleton system can produce natural gait movements by augmenting the degrees of freedom for pelvic motion.
|Title of host publication
|IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - 2014 Oct 31
|2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 2014 Sept 14 → 2014 Sept 18
|IEEE International Conference on Intelligent Robots and Systems
|2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
|14/9/14 → 14/9/18
Bibliographical notePublisher Copyright:
© 2014 IEEE.
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications