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Real-time recognition of locomotion-related activities is a fundamental skill that a controller of lower limb wearable robots should possess. Subject-specific training and reliance on electromyographic interfaces are the main limitations of existing approaches. This study presents a novel methodology for real-time locomotion mode recognition of locomotion-related activities in lower limb wearable...
This paper presents an indirect user interface solution for an active walking aid using visual image sensing. The aim of the design is to track the movement of the human feet in order to obtain command signals for driving an active walker to be seen as a robotic rollator. The human gait becomes the input device by which the user controls the actuators of the robotic rollator. Computer vision techniques...
A lot of research about using animal walking patterns on quadruped robots such as cheetah, cats and others. The big problem is about how to make this fourlegged robot run fast and maintain stability. The instability of the robot makes visual sensors such as Camera, Thermal sensor and various sensors used to get significant disturbance. With this problem, this paper made a system in the form of Walking...
For a robotic walker designed to assist mobility constrained people, it is important to take into account the different spectrum of pathological walking patterns, which result into completely different needs to be covered for each specific user. For a deployable intelligent assistant robot it is necessary to have a precise gait analysis system, providing real-time monitoring of the user and extracting...
It is well-known that walking offers many health benefits for everyone, especially for older people who need to maintain mobility and independence coping with declining of functional capacity. In this paper, we present the design of a humanoid walking trainer that has to monitor and encourage walking in the elderly. This design is based on our target users' preferences. We present as well a preliminary...
Neurological disorders such as Stroke majorly affect one's walking ability thereby leading to issues while performing activities of daily living. Such mobility issues are often manifested by circumduction in one's gait with anomalous pelvic obliquity post-stroke. These deficits are mostly visually estimated by therapist's expert eyes while suggesting rehabilitation exercises. However, this observation-based...
This paper proposes a method of detecting the postural stability of a person wearing the lower limb exoskeletal robot with the HAT(Head-Arm-Trunk) model. Previous studies have shown that the human posture is stable when the CoM(Center of Mass) of the human body is placed on the BoS(Base of Support). In the case of the lower limb exoskeletal robot, the motion data, which are used for the CoM estimation,...
Classic biped walking controllers assume a perfectly flat, rigid surface on which the robot walks. While walking over unknown terrain, robots need to sense and estimate the ground location. Errors in this estimation result in an unexpected early or late ground contact of the swing foot. In this paper, we analyze how these errors affect walking stability. Based on simulation results, we propose a strategy...
Lower Limb Exoskeleton robot that can facilitate stair walking is a big challenge, most systems could only provide level ground walking. In this study, a lightweight (0.5kg at ankle, 0.5kg at waist for control box) and autonomous exoskeleton Ankle Robot was proposed to provide power assistance for gait training of chronic stroke patients and it can facilitate three walking conditions in real-time:...
The goal of this study was to determine how individuals post-stroke response to the lateral assistance force applied to the pelvis during treadmill walking. Ten individuals post chronic (> 6 months) stroke were recruited to participate in this study. A controlled assistance force (∼10% of body weight) was applied to the pelvis in the lateral direction toward the paretic side during stance of the...
The goal of this paper is to present a method for generating a basic trajectory for a planar bipedal robot with point feet. Since the mechanism is underactuated, partial feedback linearisation is used as a control method. In order to omit dynamic singularities only relative angles are used in the output function and the information about the absolute position of the robot is supplied using a virtual...
Trajectories planning and motion control of two-legged robots comprise many subtasks for different scenarios. In this paper the problem of stabilization of humanoid robot Darwin-OP in a standing position is considered. The robot balances on a rotating surface with unknown angle and speed. Estimation of surface inclination is provided by data of motor encoders and inertial measurements of accelerometer...
This work proposes a novel optimal leg sequence selection method for hexapod robots, in terms of robot stability, and for a combination of various gaits, motion modes and sloped terrains. The method finds the most stable leg sequence for the required gait. If no such gait exists, the fastest stable gait is chosen and the most stable leg sequence for this gait is selected. The method can be based on...
After proposed an optimal control method for a biped robot based on parameters of the UXA 90-Light robot in our previous researches. In this paper, those data generated from the results of simulation will be applied in real robot. Besides, sensors module as well as algorithms also were generated to measure the ZMP trajectory of robot. Then, the stability of the robot is performed through comparison...
This paper investigates approaches capable of inducing sensations of tele-presence in robotic tele-operations. Operator's control actions are simpler, if he feels being in the remote environment. The goal is to replicate some conditions of the remote environment to let operator's perception behaviours approximate to the natural ones. Since immersion aims at providing stimulus to trick the sensory...
In order to realize adaptive quadruped locomotion on terrains with different properties (such as surface friction or elasticity modulus), we plan to collect the foot-ground contact force and gyroscope information during locomotion on different ground substrates, then classify the ground substrates with the feature vector extracted from the collected data using Support Vector Machine (SVM) algorithm...
This work introduces a novel hybrid control architecture for a hexapod platform (Weaver), making it capable of autonomously navigating in uneven terrain. The main contribution stems from the use of vision-based exteroceptive terrain perception to adapt the robot's locomotion parameters. Avoiding computationally expensive path planning for the individual foot tips, the adaptation controller enables...
Evolutionary algorithms have previously shown promise in generating controllers for legged robots. Multiple evaluations across many evolutionary generations are typically required — simulators are frequently used to accommodate this. However, performance degradation is frequently observed when transferring controllers from simulation to reality due to inconsistencies between the two. In this paper...
Current research highlights the emergent need for the development of wearable, calibrated, and accurate sensory systems for ambulatory human gait analysis. The purpose of this work is to develop a lightweight and calibrated instrumented insole system for the real-time monitoring of gait events in healthy, pathological and robotic-assisted gait. We designed the insole with four force sensing resistors...
Parkinson's Disease is a degenerative neurological disorder of Central Nervous System, which affects the motor and non-motor system and for which there is still no cure. The events of Freezing of Gait are one of the most critical gait impairments and once the medication and the palliative care have not influenced the overcoming of freezing episodes, in the recent years, several non-pharmacological...
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