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Trajectory Modulation for Impact Reducing of Lower-Limb Exoskeletons.

Long Zhang1, Guangkui Song1, Chaobin Zou1

  • 1Center for Robotics, University of Electronic Science and Technology of China, No. 2006 Xiyuan Ave, Chengdu 611731, China.

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|June 24, 2022
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Summary

This study introduces optimized knee trajectory modulation (OKTM) to reduce uncomfortable foot-ground impacts in lower-limb exoskeletons. This method effectively lowers peak ground reaction forces, enhancing safety and comfort for users during walking.

Keywords:
exoskeletonsimpact reducingtrajectory modulation

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Area of Science:

  • Robotics
  • Biomechanics
  • Rehabilitation Engineering

Background:

  • Lower-limb exoskeletons aid walking assistance and rehabilitation for paraplegic patients.
  • Excessive foot-ground impacts during exoskeleton-assisted walking cause discomfort and potential injury.

Purpose of the Study:

  • To propose and validate an optimized knee trajectory modulation (OKTM) method for reducing foot-ground impact forces.
  • To introduce a complementary hip trajectory modulation (HTM) to address torso pitch deflections.

Main Methods:

  • Developed an optimized knee trajectory modulation (OKTM) using a parameter-optimizing spring-damping system.
  • Implemented a hip trajectory modulation (HTM) to counteract torso pitch.
  • Validated the OKTM and HTM approach through simulations and experimental testing.

Main Results:

  • The OKTM effectively reduced the peak ground reaction force (PGRF).
  • The HTM successfully compensated for torso pitch deflections caused by OKTM.
  • The proposed methods require no bulky mechanical structures and offer adaptive parameter adjustment.

Conclusions:

  • The optimized knee trajectory modulation (OKTM) is an effective strategy for reducing foot-ground impacts in lower-limb exoskeletons.
  • The adaptive, non-bulky nature of OKTM and HTM offers a significant advantage over traditional mechanical solutions.