Chunguang Li
Robotics and Microsystems Center, Soochow University, Suzhou, 215021, China
Haiyan Hu
Robotics and Microsystems Center, Soochow University, Suzhou, 215021, China
Tao Liu
Robotics and Microsystems Center, Soochow University, Suzhou, 215021, China
Lining Sun
Robotics and Microsystems Center, Soochow University, Suzhou, 215021, China
ABSTRACT
Reference movement provided for an exoskeleton prosthesis that assists patients in walking is usually given based on statistical gait data of healthy individuals. However, it is easy to cause misidentification of gaits phase, discontinuity of reference movement and serious asymmetry of two limbs. This study proposes a method to give a reference movement for impaired knee based on biomechanical information of the contra-lateral healthy limb. This can enhance movement symmetry of two limbs. Different phases are identified according to the statuses (peak, valley and zero values, increasing or decreasing) of knee angle, angular velocity, forefoot reaction force and heel reaction force of the healthy limb. The specific statuses rather than numerical values are favourable to enhance accuracy of phase identification and continuity of reference movement. Sine or cosine function is used to express motion trajectory of knee approximately and the period and peak value of the output function can be regulated according to the measured knee angles of the healthy limb. Thus, the reference movement can match that of the healthy knee in real-time even though walking pace and stride length are changed. Verification experiment was performed on four subjects and the results confirmed the feasibility of the proposed method.
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How to cite this article
Chunguang Li, Haiyan Hu, Tao Liu and Lining Sun, 2013. To Calculate Reference Movement of Impaired Knee in Real-time Based on Biomechanical
Information of the Contra-lateral Healthy Limb. Information Technology Journal, 12: 4408-4416.
DOI: 10.3923/itj.2013.4408.4416
URL: https://scialert.net/abstract/?doi=itj.2013.4408.4416
DOI: 10.3923/itj.2013.4408.4416
URL: https://scialert.net/abstract/?doi=itj.2013.4408.4416
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