Optimal gait pattern generation for powered robotic exoskeleton and verification of its feasibility

摘要

The will of humans with physical disabilities to move has found realization through the development of powered robotic exoskeleton. In this study, an energy-efficient gait pattern and swing trajectory of the powered robotic exoskeleton was proposed through function distribution analysis and the dynamic-manipulability ellipsoid (DME). To verify its feasibility and the effect of the proposed optimal gait pattern from the point view of the integrated system (human and exoskeleton), simulations were performed in the cases of walking on level ground and stair ascent/descent. Experiments such as on the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted, and the power consumption of the exoskeleton was assessed, with the aim of improving the efficiency of the integrated system.