Name
Title | ||
|---|---|---|
Joint trajectory generator for powered orthosis based on gait modelling using PCA and FFT. |
Abstract | ||
|---|---|---|
In this work, we propose a method able to find user-oriented gait trajectories that can be used in powered lower limb orthosis applications. Most research related to active orthotic devices focuses on solving hardware issues. However, the problem of generating a set of joint trajectories that are user-oriented still persists. The proposed method uses principal component analysis to extract shared features from a gait dataset, taking into consideration gait-related variables such as joint angle information and the user's anthropometric features, used directly in an orthosis application. The trajectories of joint angles used by the model are represented by a given number of harmonics according to their respective Fourier series analyses. This representation allows better performance of the model, whose capability to generate gait information is validated through experiments using a real active orthotic device, analysing both joint motor energy consumption and user metabolic effort. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1017/S0263574717000467 | ROBOTICA |
Keywords | Field | DocType |
Robotics,Powered orthosis,Assistive robotics,Trajectory generator,Human-driven assitive device | Gait,Simulation,Control engineering,Fast Fourier transform,Engineering,Trajectory | Journal |
Volume | Issue | ISSN |
36 | 3 | 0263-5747 |
Citations | PageRank | References |
0 | 0.34 | 4 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nicholas de Bastos Melo | 1 | 0 | 1.01 |
| C. E. T. Dorea | 2 | 25 | 14.67 |
| Pablo Javier Alsina | 3 | 6 | 4.34 |
| Márcio V. Araújo | 4 | 0 | 0.34 |