Motion Control and Coordination in the Development of a Conceptual Gait Rehabilitation System
17-226-7-1885
07/01/2012
- Content
- A conceptual gait rehabilitation system was developed to generate the coordinated motion of the hip and knee joints according to normal physiological gait pattern with a pair of linkage mechanisms (one for each leg). This article presents the design of a mechanical timing mechanism for the motion control and coordination of the linkage mechanisms in the system. The desired motion of the input crank of the linkage mechanism is first obtained for the control purpose. To facilitate the implementation of different modes of operation of the gait rehabilitation system, a combination of cam and planetary gears is developed to achieve both timing and coordination through mechanical means. Motion simulation of the new timing mechanisms shows that the proper timing of the gait mechanisms, thus the hip and knee joints, is achieved with a constant speed input.
- Citation
- Manna, Y., Du, F., and Ji, Z., "Motion Control and Coordination in the Development of a Conceptual Gait Rehabilitation System," SAE Technical Paper 17-226-7-1885, 2012, .