Mechanical Design Of Prototype Exoskeleton Robotic System For Human Leg Movements And Implementation Of Gait Data With Neural Network
Abstract
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References
- K. Nagasaka, H. Inoue, and M. Inaba, “Dynamic Walking Pattern Generation for a Humanoid Robot Based on Optimal Gradient Method” Proceedings of the 1999 IEEE International Conference on Systems, Man & Cybernetics, 6, 1999, pp. 908-913.
- S. Hong, Y. Oh, B. You, and S. Oh, “A walking pattern generation method of humanoid robot MAHRU-R” Intelligent Service Robotics Journal, 2(3), 2009, pp. 161-171.
- Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, et al., “Planning walking patterns for a biped robot” IEEE Transactions on Robotics and Automation, 17 (3), 2001, pp. 280-289.
- M. A. Townsend and R. J. Lepofsky, “Powered walking machine prosthesis for paraplegics”, Med. Biol. Eng. 14, 1976, pp. 436–444.
- M. Vukobratovic, “Humanoid robotics — Past, present state, future” Int. J. Human. Robot., 2007.
- D. Ito, T. Murakami, and K. Ohnishi, “An approach to generation of smooth walking pattern for biped robot” Proceedings of the 7th Workshop on Advance Motion Control Malibor, Slovenia, 2002, pp. 98-103.
- D. Cai, P. Bidaud, V. Hayward, F. Gosselin ''Design On Self-Adjusting Orthoses For Rehabilitation'' Proceedings of the 14th 1ASTED International Conference Robotics And Applications (RA 2009), November 2-4, 2009, Cambridge, MA, USA.
- K. H. Low, X. Liu , H. Yu ''Development of NTU Wearable Exoskeleton System for Assistive Technologies'' Proceeding of te IEEE International Canference on Mechatronics & Automation, Niagara Falls, Canada - July 2005
- http://www.pandocare.com/products.html#kneeanklefoot
İnsan Bacak Hareketleri İçin Prototip Dış İskelet Robotik Sisteminin Mekanik Tasarımı Ve Hareket Verilerinin Yapay Sinir Ağları İle Elde Edilmesi
Abstract
Target of this study is designing a exoskeleton system for single lower extremity disabled person and controlling this exoskeleton system with neural network. Exoskeleton system is modeled by using SolidWorks. At the same time, gait data is acquired on human body and sole is divided four parts after that reaction forces are gauged during the walking. Distributions of strain and deformation are obtained by using experimental gait data. The walking is designed using the obtained data and walking data is derived for control stage. Power requirements of actuators are defined.
References
- K. Nagasaka, H. Inoue, and M. Inaba, “Dynamic Walking Pattern Generation for a Humanoid Robot Based on Optimal Gradient Method” Proceedings of the 1999 IEEE International Conference on Systems, Man & Cybernetics, 6, 1999, pp. 908-913.
- S. Hong, Y. Oh, B. You, and S. Oh, “A walking pattern generation method of humanoid robot MAHRU-R” Intelligent Service Robotics Journal, 2(3), 2009, pp. 161-171.
- Q. Huang, K. Yokoi, S. Kajita, K. Kaneko, H. Arai, N. Koyachi, et al., “Planning walking patterns for a biped robot” IEEE Transactions on Robotics and Automation, 17 (3), 2001, pp. 280-289.
- M. A. Townsend and R. J. Lepofsky, “Powered walking machine prosthesis for paraplegics”, Med. Biol. Eng. 14, 1976, pp. 436–444.
- M. Vukobratovic, “Humanoid robotics — Past, present state, future” Int. J. Human. Robot., 2007.
- D. Ito, T. Murakami, and K. Ohnishi, “An approach to generation of smooth walking pattern for biped robot” Proceedings of the 7th Workshop on Advance Motion Control Malibor, Slovenia, 2002, pp. 98-103.
- D. Cai, P. Bidaud, V. Hayward, F. Gosselin ''Design On Self-Adjusting Orthoses For Rehabilitation'' Proceedings of the 14th 1ASTED International Conference Robotics And Applications (RA 2009), November 2-4, 2009, Cambridge, MA, USA.
- K. H. Low, X. Liu , H. Yu ''Development of NTU Wearable Exoskeleton System for Assistive Technologies'' Proceeding of te IEEE International Canference on Mechatronics & Automation, Niagara Falls, Canada - July 2005
- http://www.pandocare.com/products.html#kneeanklefoot
There are 9 citations in total.
Details
| Primary Language | Turkish |
|---|---|
| Journal Section | Research Articles |
| Authors | |
| Publication Date | June 1, 2012 |
| Submission Date | March 14, 2014 |
| Published in Issue | Year 2012 Volume: 16 Issue: 3 |
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