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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2095-2100
Number of pages6
ISBN (Print)9781479969340
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: 2014 Sep 142014 Sep 18

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period14/9/1414/9/18

ASJC Scopus subject areas

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

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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