Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people

作     者：Donghai WANG Donghai WANG

作者机构：State Key Laboratory of Digital Manufacturing Equipmen and Technology Huazhong University of Seience and TechnologyWuhan 430074China Guangdong Sygole Intelligent Technology Co.Ltd.Dongguan 523808China 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2022年第23卷第6期

页      面：920-936页

核心收录：

学科分类：0810[工学-信息与通信工程] 0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 0839[工学-网络空间安全] 081104[工学-模式识别与智能系统] 08[工学] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：the National Natural Science Foundation of China(No.51705167) the Dongguan Introduction Program of Leading Innovative and Entrepreneurial Talents 

主　　题：Sensor-guided Lower-extremity-exoskeleton Body sensor network Gait synchronization Weight-support 

摘      要：This paper presents a sensor-guided gait-synchronization system to help potential unilateral knee-injured people walk normally with a weight-supported lower-extremity-exoskeleton(LEE).This relieves the body weight loading on the knee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of *** sensor-guided gait-synchronization system is integrated with a body sensor network designed to sense the motion/gait of the healthy *** by the measured joint-angle trajectories,the motorized hip joint lifts the links during walking and synchronizes the knee-injured gait with the healthy gait by a half-cycle *** effectiveness of the LEE is illustrated *** compare the measured joint-angle trajectories between the healthy and knee-injured legs,the simulated knee forces,and the human-exoskeleton interaction *** results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined body-weight-supported LEE and injured leg with that of the healthy leg.