Parametric dynamic analysis of walking within a cable-based gait trainer

In this paper, a parametric analysis of the inverse dynamics of an upright partially unloaded walking is performed. This motion is produced through a gait-training machine emulating the over-ground walking using a body weight support mechanism and a cable-driven robot. The input motion is the kinema...

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Bibliographic Details
Published in:Robotica 2019-07, Vol.37 (7), p.1225-1239
Main Authors: Lamine, Houssein, Romdhane, Lotfi, Bennour, Sami
Format: Article
Language:English
Subjects:
Actuation
Actuators
Body weight
Computer simulation
Dynamic models
Economic models
Gait
Inverse dynamics
Kinematics
Parameter estimation
Parametric analysis
Robot dynamics
Training
Walking
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Summary:In this paper, a parametric analysis of the inverse dynamics of an upright partially unloaded walking is performed. This motion is produced through a gait-training machine emulating the over-ground walking using a body weight support mechanism and a cable-driven robot. The input motion is the kinematics of a normal gait, and the ultimate output result is the required tensions to be generated by the cable robot in order to drive the lower limb. The dynamic analysis is carried out based on the Newton–Euler approach. A Matlab Simscape model is also built to validate the analytical results. The obtained dynamic model is used to investigate the effect of the variation of the gait simulation parameters on the actuation wrench and the cable tensions. The obtained results could be used to determine the optimal design of the gait trainer actuators and they are useful in estimating optimal gait training parameters.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574718000711