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Dynamic analysis of a 3-link biped model to investigate the rgo assisted paraplegic gait

Nakhaee, K ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. Publisher: 2010
  3. Abstract:
  4. A 3D dynamic model with 3 segments and 5 degrees of freedom (DOF) was developed to simulate the gait of a paraplegic patient while wearing a rigid orthosis. The equations of motion were formulated based on Denavit-Hartenberg notation and solved using a combined forward-inverse dynamics approach assuming locked knees, passive hips and actuated pelvis joints. Results showed that the model could take a single step in response to a sinusoidal motion applied to the pelvis joints. It was concluded that a paraplegic patient is able to walk with proper immobilization of the paralyzed joints and appropriate maneuver of the trunk, without the need to a propulsion supply from hands through crutches
  5. Keywords:
  6. Orthosis ; Paraplegic gait ; Paraplegic patients ; Single-step ; Equations of motion ; Mobile robots
  7. Source: Mobile Robotics: Solutions and Challenges - Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2009, 9 September 2009 through 11 September 2009, Istanbul ; 2010 , Pages 1121-1127 ; 9789814291262 (ISBN)