Shin Sung Yul, Sulzer James
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:983-987. doi: 10.1109/ICORR.2019.8779359.
Rehabilitation robots reduce the physical burden on therapists, quantify training and allow greater dose of therapy on individuals with neurological impairments. Robots are also capable of precisely customizing therapy based on the user's physiology and/or needs, for example, customizing a reference trajectory for gait training. While a number of methods for obtaining reference gait patterns have been proposed, these approaches lack the ability of altering the trajectories according to the varying walking speed in real-time. The objective of this paper is to develop an online algorithm that can provide a continuous, speed-dependent reference gait pattern for robotic gait training. We employed Fourier series and profile blending methods to generate natural transitions in gait patterns, and synchronized the gait cycle time according to the given arbitrary walking speed. The simulation results suggest that the algorithm can stably change the gait patterns with the given walking speed in a synchronous manner. We conclude that the method can provide online speed-dependent walking motion that can be used for general robotic gait training applications.
康复机器人减轻了治疗师的身体负担，对训练进行量化，并允许对神经功能障碍患者进行更大剂量的治疗。机器人还能够根据用户的生理状况和/或需求精确定制治疗方案，例如，为步态训练定制参考轨迹。虽然已经提出了多种获取参考步态模式的方法，但这些方法缺乏根据行走速度变化实时改变轨迹的能力。本文的目的是开发一种在线算法，该算法可以为机器人步态训练提供连续的、与速度相关的参考步态模式。我们采用傅里叶级数和轮廓融合方法在步态模式中生成自然过渡，并根据给定的任意行走速度同步步态周期时间。仿真结果表明，该算法能够以同步方式随给定行走速度稳定地改变步态模式。我们得出结论，该方法可以提供与速度相关的在线步行运动，可用于一般的机器人步态训练应用。
