Variable Quasi-circular Gait Planning with Smooth Angular Acceleration for Lower Limb Rehabilitation
10.3969/j.issn.1006-9771.2021.06.001
- VernacularTitle:角加速度平滑的可变类圆周下肢康复步态规划
- Author:
Lin CHEN
1
;
Kai XIA
1
;
Xue-tao ZHANG
1
;
Si-chuang YANG
1
;
Hai-hong PAN
1
Author Information
1. College of Mechanical Engineering, Guangxi University, Nanning, Guangxi 530004, China
- Publication Type:Research Article
- Keywords:
lower limb rehabilitation robot;
gait planning;
kinematics analysis;
quintic polynomial
- From:
Chinese Journal of Rehabilitation Theory and Practice
2021;27(6):621-626
- CountryChina
- Language:Chinese
-
Abstract:
Objective:To solve the problem of leg shaking caused by the sudden change of angular acceleration at the joint of periodic motion during circular gait training of lower limb rehabilitation robot. Methods:A kind of quasi-circular gait was proposed, which divided the periodic motion into three phases: start phase, middle phase and end phase. The time was equal in the start phase and the end phase, and could be adjusted with the parameter ratio. The joint trajectories of the two phases were planned by quintic polynomial, and the middle phase was still the circular gait joint trajectory. The trajectory of the proposed quasi-circular gait was simulated. Results:The angular velocity was continuously differentiable and 0, the angular acceleration was continuous and 0, and the end-effector trajectory became flat with the increase of ratio. The results on the physical prototype of the lower limb rehabilitation robot were principally consistent with the simulation, and the machine worked smoothly. Conclusion:The proposed variable quasi-circular gait had smooth angular acceleration at the junction of periodic motions, which effectively solved the jitter problem when using circular gait for lower limb rehabilitation training and avoided secondary injury to the patients.
