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Lower-limb exoskeleton is widely used for assisting walk in rehabilitation field. One key problem for exoskeleton control is to model and predict the suitable gait trajectories of wearer. In this paper, we propose a Deep Rehabilitation Gait Learning (DRGL) for modeling the knee joints of lower-limb exoskeleton, which firstly leverage Long-Short Term Memory (LSTM) to learn the inherent spatial-temporal...
Robust gait phase prediction is crucial to exoskeleton robots, as it detects the intention of users and improves the lag of motion signals. Therefore, this paper predicts gait phases from two perspectives, including one perspective of spatial features and the other of spatio-temporal features. We employ two machine learning models from the two perspectives to predict. One is support vector machine...
In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia,...
In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The robot has an under-drive control structure. The wearer can maintain balance and shift his (her) body weight with the aid of a pair of crutches. On this robot we have implemented a four-legged gait planning method. Through...
Wearable exoskeleton robot is a kind of humanoid service robot to help the elderly and the patients with walking dysfunction, it is also an effective medical rehabilitation method to help patients who have walking disorders due to central neural system damage. This paper focuses on the flexible mechanism design of wearable lower limb exoskeleton robot. A wearable exoskeleton robot prototype was developed...
Abnormal behavior detection has recently gained growing interest from computer vision researchers. In this paper, the gait-analysis-based abnormal detection is proposed for walking scenes, where gaits of people are analyzed in all kinds of situations and the gait data are utilized to construct the basic gait model. Walking people in the crowd are tracked and their activities silhouettes are abstracted...
High mobility, large obstacle performance, narrow space crossing-over capacity and stable data communication are important features for a rescue robot. The authors proposed a parent-child robot system that could achieve all of these abilities. The robot system is composed of a parent robot, a tracked child robot and a legged robot. The parent robot has high mobility and can climb over ordinary obstacles...
This paper describes a compact mini-walking robot with Barbie's shape, and its walking is realized with only one actuator. The first remarkable feature of this robot is the total weight and dimension of the proposed mechanism is expected to be lighter and smaller than other mini-walking robots. Secondly, the proposed leg mechanism in the robot can work smoothly as human with only one DOF. The model...
Gender is an important cue in social activities. In this correspondence, we present a study and analysis of gender classification based on human gait. Psychological experiments were carried out. These experiments showed that humans can recognize gender based on gait information, and that contributions of different body components vary. The prior knowledge extracted from the psychological experiments...
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