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The Lower-limb Power Assisted Robot is a typical exoskeleton power assistance device, which is worn on the user's lower extremities. It can help the elderly and the infirm walk independently. According to the characteristics of human lower extremity joints, a robot with four-bar knee joint whose pelvis and knee joint are driven by the motor-driven screw-nut body is designed. Employing the Denanit-Hartenberg...
The knowledge of human gait plays an important role in the equilibrium control during walking. The study of the human gait has an important science significance and applied value in the fields of medical treatment, physical training, rehabilitation, man-machine engineering and so on. This paper illustrates a joint measurement system based on the motion image gathering system and the angular measuring...
Assistant robotic leg is a kind of robot designed for patients whose legs are injured or have difficulty in movement due to illness (i.e., diabetes, after-illness of the thrombus, etc). Each side leg has one degrees-of freedom motion at the hip and one degree-of-freedom at the knee. It is tied to the patient's two legs to help them practice walking. Based on generalized coordinates, the kinematical...
In order to acquire the normal gait parameters and variation rules, the fuzzy algorithm was introduced for processing experimental data. The effect of the normal subject's height and walking speed on the motion amplitude of the pelvis was chosen as an example, and the experimental study on the gait parameters of 30 males was completed. By analyze the experimental data the fuzzy rule and fuzzy inference...
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