Research the Gait Characteristics of Human Walking Based on a Robot Model and Experiment

2017 International Conference on Control Engineering and Artificial Intelligence

计算机科学

He, H.J.^1 ; Zhang, D.N.^1 ; Yin, Z.W.^2 ; Shi, J.H.^1

21st Research Institute of China Electronics Technology Group Corporation, Shanghai

200230, China^1

Institute of Precise Forming and Knowledge Based Engineering, Shanghai Jiaotong University, Shanghai

200030, China^2

关键词: Amplitude errors;    Exoskeleton robots;    Human walking;    MATLAB /simulink;    Phase error;    Robot model;    Single degree of freedoms;    System control model;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/806/1/012001/pdf
DOI  :  10.1088/1742-6596/806/1/012001

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

In order to research the gait characteristics of human walking in different walking ways, a robot model with a single degree of freedom is put up in this paper. The system control models of the robot are established through Matlab/Simulink toolbox. The gait characteristics of straight, uphill, turning, up the stairs, down the stairs up and down areanalyzed by the system control models. To verify the correctness of the theoretical analysis, an experiment was carried out. The comparison between theoretical results and experimental results shows that theoretical results are better agreement with the experimental ones. Analyze the reasons leading to amplitude error and phase error and give the improved methods. The robot model and experimental ways can provide foundation to further research the various gait characteristics of the exoskeleton robot.