TY - GEN
T1 - Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement
AU - Jung, Chan Yul
AU - Choi, Junho
AU - Park, Shinsuk
AU - Lee, Jong Min
AU - Kim, Changhwan
AU - Kim, Seung Jong
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84911468336&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942843
DO - 10.1109/IROS.2014.6942843
M3 - Conference contribution
AN - SCOPUS:84911468336
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2095
EP - 2100
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -
