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Motion Planning for Pelvis-Assisted Walking Training Robot

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14274))

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Abstract

A pelvic-assisted walking training robot is proposed for individuals with walking difficulties, such as hemiplegic patients and the elderly. Firstly, an innovative overall structure of the pelvic-assisted walking training robot with a symmetric layout is designed based on the requirements of rehabilitation robotics and clinical rehabilitation training. Secondly, according to the analysis of human gait, the gait cycle is divided into Initial Step, Continuous Cycle Step and Terminal Step, and the motion planning of these three parts is carried out reasonably. Finally, a semi-physical simulation analysis is conducted to validate the influence of different gait cycle durations on the swing of the lower limb assistive linkages, ensuring the fulfillment of walking rehabilitation training requirements.

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Acknowledgments

This work was supported by Scientific Research Project of Education Department of Hubei Province under Grant No. D20222603, Science and Technology Innovation Team of Hubei University of Arts and Science under Grant 2022pytd01, Graduate Innovation Project of Hubei University of Arts and Science under Grant YCX202305.

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Authors and Affiliations

  1. Xiangyang Key Laboratory of Rehabilitation Medicine and Rehabilitation Engineering Technology, Xiangyang, 441053, Hubei, China

    Qianpeng Wang, Jia Wang, Jinxing Qiu, Mo Yang & Tao Qin

  2. School of Mechanical Engineering, Hubei University of Arts and Science, Xiangyang, 441053, Hubei, China

    Qianpeng Wang, Jia Wang, Jinxing Qiu, Mo Yang & Tao Qin

Authors
  1. Qianpeng Wang
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  2. Jia Wang
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  3. Jinxing Qiu
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  4. Mo Yang
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  5. Tao Qin
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Corresponding author

Correspondence to Tao Qin .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Cite this paper

Wang, Q., Wang, J., Qiu, J., Yang, M., Qin, T. (2023). Motion Planning for Pelvis-Assisted Walking Training Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14274. Springer, Singapore. https://doi.org/10.1007/978-981-99-6501-4_5

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  • DOI: https://doi.org/10.1007/978-981-99-6501-4_5

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6500-7

  • Online ISBN: 978-981-99-6501-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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