Mathematical Modeling of Human Gait in a Rehabilitation Exoskeleton Using Gait Video Analysis Method

Author:

Pechurin A.1,Fedorov A. V.1,Yatsun A. S.1ORCID,Jatsun S. F.1ORCID

Affiliation:

1. Southwest State University

Abstract

Purpose of research One of the ways to increase effectiveness of rehabilitation systems for patients with musculoskeletal disorders is the use of exoskeletons, which make it possible to ensure lower limbs movement according to the laws close to natural gait set by the rehabilitation therapist. The article considers a method based on construction of ankle joint motion trajectories (AJ) followed by synchronous determination of rotation angles of lower limb links based on numerical solution of inverse kinematics problem. It is known that the use of simplified laws of ancle joint movement and feet without taking into account anthropometric parameters of a patient leads to the formation of an incorrect gait and, as a result, a significant increase in rehabilitation time of a patient. Therefore, when constructing mathematical model of ankle motion patterns, it is proposed to use the method of video capture of marker points selected on AJ and foot, followed by processing and approximation of received signals using polynomials, which provides high accuracy of reproducing motion patterns. Purpose of research is to build motion laws of exoskeleton links along the trajectory of AJ motion based on a numerical solution of inverse kinematics problem.Methods. Experimental walking studies with the construction of AJ motion trajectory based on video fragment, smoothing and approximation of this trajectory and solving reverse kinematics problem are used to achive this goal.Results. Method for construction and processing of foot motion trajectory and finding kinematic characteristics of links motion for creation of exoskeleton motion patterns in gait is introduced.Conclusion. Simulation results shows that proposed methods of constructing motion trajectory and gait modeling of the exoskeleton make it possible to copy the gait of a person with high accuracy in rehabilitation process.

Publisher

Southwest State University

Subject

General Earth and Planetary Sciences,General Engineering,General Environmental Science

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Robotic Device for Active-Passive Mechanotherapy of the Ankle Joint;2024 International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM);2024-05-20

2. Algorithm for Controlling the Movement of the Actuator of the Device for Active-Passive Mechanotherapy of the Ankle Join;Proceedings of the Southwest State University;2023-03-24

3. Development of a Device for Post-traumatic Ankle Rehabilitation;Lecture Notes in Computer Science;2023

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3