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 | |
| 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 |
Fingerprint
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications
Cite this
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
}
TY - GEN
T1 - Design and control of an exoskeleton system for gait rehabilitation capable of natural pelvic movement
AU - Jung, Chan Yul
AU - Choi, Junho
AU - Park, Shin Suk
AU - Lee, Jong Min
AU - Kim, Changhwan
AU - Kim, Seung-Jong
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84911468336&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911468336&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942843
DO - 10.1109/IROS.2014.6942843
M3 - Conference contribution
AN - SCOPUS:84911468336
SN - 9781479969340
SP - 2095
EP - 2100
BT - IEEE International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
ER -