Abstract
A pelvic-assisted walking training robot is proposed for individuals with walking difficulties, such as hemiplegic patients and the elderly. Firstly, an innovative overall structure of the pelvic-assisted walking training robot with a symmetric layout is designed based on the requirements of rehabilitation robotics and clinical rehabilitation training. Secondly, according to the analysis of human gait, the gait cycle is divided into Initial Step, Continuous Cycle Step and Terminal Step, and the motion planning of these three parts is carried out reasonably. Finally, a semi-physical simulation analysis is conducted to validate the influence of different gait cycle durations on the swing of the lower limb assistive linkages, ensuring the fulfillment of walking rehabilitation training requirements.
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Acknowledgments
This work was supported by Scientific Research Project of Education Department of Hubei Province under Grant No. D20222603, Science and Technology Innovation Team of Hubei University of Arts and Science under Grant 2022pytd01, Graduate Innovation Project of Hubei University of Arts and Science under Grant YCX202305.
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Wang, Q., Wang, J., Qiu, J., Yang, M., Qin, T. (2023). Motion Planning for Pelvis-Assisted Walking Training Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_5
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DOI: https://doi.org/10.1007/978-981-99-6501-4_5
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