Browse > Article
http://dx.doi.org/10.5391/JKIIS.2012.22.5.631

Generation of Motor Velocity Profile for Walking-Assistance System Using Humanoid Robot Model  

Choi, Young-Lim (동아대학교 전자공학과)
Choi, Nak-Yoon (동아대학교 전자공학과)
Park, Sang-Il (동아대학교 전자공학과)
Kim, Jong-Wook (동아대학교 전자공학과)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.22, no.5, 2012 , pp. 631-638 More about this Journal
Abstract
This work proposes a new method to generate velocity profile of a traction motor equipped in a rehabilitation system for knee joint patients through humanoid robot simulation. To this end, a three-dimensional full-body humanoid robot model is newly constructed, and natural human gait is simulated by applying to it reference joint angle trajectories already published. Linear velocity is derived from distance data calculated between the positions of a thigh band and its traction motor at every sampling instance, which is a novel idea of this paper. The projection rule is employed to kinematically describe the humanoid robot because of its high efficiency and accuracy, and measured joint trajectories are used in simulating human natural gait referring to Winter's book. The attained motor velocity profile for a certain position in human body will be applied to our walking-assistance system which is implemented with a treadmill system.
Keywords
Rehabilitation; Kinematics; Gait Analysis; Humanoid Robot;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 J. Hildler, W. Wisman, and N. Neckel, "Kinematic trajectories while walking within the Lokomat robotic gait-orthosis," Clinical Biomechanics, vol. 23, no. 10, pp. 1251-1259, 2008.   DOI
2 T. Sakurai and Y. Sankai, "Development of motion instruction system with interactive robot suit HAL," Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics, pp. 1141-1147, 2009.
3 H. Bae, J. O. Kim, H. Y. Chun, K. H. Park, and K. W. Lee, "Kinematic characteristics of walking- assistance robot for rehabilitation," KSME A, vol. 35, no. 5, pp. 503-515. 2011.
4 J. Y. Jung, H. S. Park. D. Y. Lee, I. H. Jang, D.W. Lee, and H. K. Lee, "Organization of sensor system and user's intent detection algorithm for rehabilitation robot," ICROS, vol. 16, no. 10, pp. 933-938, 2010.   DOI
5 K. Kim, J. J. Kim, M. Heo, K. Y. Jeong, M. H. Ko, and T. K. Kwon, "Development of knee ankle foot orthosis for gait rehabilitation training using plantaflexion and knee extension torque," ICROS, vol. 16, no. 10, pp. 948-956, 2010.   DOI
6 S. Y. Ok, "Autonomous bipedal locomotion with evolutionary algorithm," KIIS, vol. 14, no. 5, pp. 610-616, 2004.
7 Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H, Arai, N. Koyachi, and K. Tanie, "Planning walking patterns for a biped robot," IEEE Trans. Robotics and Automation, vol. 17, no. 3, pp. 280-289, 2001.   DOI
8 D. A. Winter, Biomechanics and Motor Control of Human Movement, John Wiley & Sons, Inc., 2009.
9 J. Denavit and R. S. Hartenberg, "A kinematic notation for lower-pair mechanisms based on matrices," J. App. Mech., vol. 77, pp. 215-221, 1955.
10 E. Kim, T. Kim, and J. -W. Kim, "Three-dimensional modeling of a humanoid in three planes and a motion scheme of biped turning in standing," IET Control Theory and Application, vol. 3, no. 9, pp. 1155-1166, Sept. 2009.   DOI
11 M. W. Spong, S. Hutchinson, M. Vidyasagar, Robot Modeling and Control, John Wiley & Sons, Inc., 2006