Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement

Chan Yul Jung; Junho Choi; Shin Suk Park; Jong Min Lee; Changhwan Kim; Seung-Jong Kim

doi:10.1109/IROS.2014.6942843

Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement

Chan Yul Jung, Junho Choi, Shin Suk Park, Jong Min Lee, Changhwan Kim, Seung-Jong Kim

School of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Citations (Scopus)

Abstract

This paper introduces a novel exoskeleton system for gait rehabilitation, which allows natural pelvic movements. The developed lower extremity exoskeleton system, COWALK, has 14 degrees of freedom including four degrees of freedom for pelvic motion. From 113 healthy human subjects, 3D motion capture data were collected to determine mechanical design parameters and to generate gait patterns for the COWALK system. In order to reduce the affect of the weight of the robot, a gravity compensator was installed to support the weight of the robot. The performance of the COWALK system was validated by experiments. The experimental results from joint trajectories and pelvis movements show that the developed exoskeleton system can produce natural gait movements by augmenting the degrees of freedom for pelvic motion.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2095-2100
Number of pages	6
ISBN (Print)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6942843
Publication status	Published - 2014 Jan 1
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 2014 Sep 14 → 2014 Sep 18

Other

Other	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country	United States
City	Chicago
Period	14/9/14 → 14/9/18

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

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10.1109/IROS.2014.6942843

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Cite this

Jung, C. Y., Choi, J., Park, S. S., Lee, J. M., Kim, C., & Kim, S-J. (2014). Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement. In IEEE International Conference on Intelligent Robots and Systems (pp. 2095-2100). [6942843] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942843

Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement. / Jung, Chan Yul; Choi, Junho; Park, Shin Suk; Lee, Jong Min; Kim, Changhwan; Kim, Seung-Jong.

IEEE International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2095-2100 6942843.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Jung, CY, Choi, J, Park, SS, Lee, JM, Kim, C & Kim, S-J 2014, Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement. in IEEE International Conference on Intelligent Robots and Systems., 6942843, Institute of Electrical and Electronics Engineers Inc., pp. 2095-2100, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/9/14. https://doi.org/10.1109/IROS.2014.6942843

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abstract = "This paper introduces a novel exoskeleton system for gait rehabilitation, which allows natural pelvic movements. The developed lower extremity exoskeleton system, COWALK, has 14 degrees of freedom including four degrees of freedom for pelvic motion. From 113 healthy human subjects, 3D motion capture data were collected to determine mechanical design parameters and to generate gait patterns for the COWALK system. In order to reduce the affect of the weight of the robot, a gravity compensator was installed to support the weight of the robot. The performance of the COWALK system was validated by experiments. The experimental results from joint trajectories and pelvis movements show that the developed exoskeleton system can produce natural gait movements by augmenting the degrees of freedom for pelvic motion.",

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