Open AccessImplementation of precedence walking assistance mechanism in exoskeleton with only vertical ground reaction forces
Author(s) -
Cha D.,
Oh S.,
Kim K.I.,
Kim K.S.,
Kim S.
Publication year - 2014
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2013.3830
Subject(s) - exoskeleton , mechanism (biology) , ground reaction force , computer science , simulation , gait , shadow (psychology) , physical medicine and rehabilitation , psychology , medicine , kinematics , philosophy , physics , epistemology , classical mechanics , psychotherapist
A more rapid detection method for step initiation is an important challenge for muscle force reduction in lower limb exoskeletons. Many studies have attempted to detect step initiation faster via either the precedence walking assistance mechanism or the shadow walking assistance mechanism. Although the precedence walking assistance mechanism is the fastest for the detection of step initiation, this mechanism has limitations while using biosignals. As a result, many studies have attempted to detect step initiation with the shadow walking assistance mechanism as soon as possible. A precedence walking assistance mechanism has been implemented for step initiation in the Unmanned Technology Research Centre Exoskeleton (UTRCEXO) based on gait analysis without using any biosignals. Success was achieved in reducing the muscle force of the operator.