Solis Ortega, RD, Dehghani-Sanij, AA and Martinez-Hernandez, U orcid.org/0000-0002-9922-7912 (2017) Characterization of kinetic and kinematic parameters for wearable robotics. In: Lecture Notes in Computer Science. 18th Annual Conference, Towards Autonomous Robotic Systems (TAROS) 2017, 19-21 Jul 2017, Guildford, UK. Springer Verlag , pp. 548-556. ISBN 9783319641065
Abstract
The design process of a wearable robotic device for human assistance requires the characterization of both kinetic and kinematic parameters (KKP) of the human joints. The first step in this process is to extract the KKP from different gait analyses studies. This work is based on the human lower limb considering the following activities of daily living (ADL): walking over ground, stairs ascending/descending, ramp ascending/descending and chair standing up. The usage of different gait analyses in the characterization process, causes the data to have great variations from one study to another. Therefore, the data is graphically represented using Matlab® and Excel® to facilitate its assessment. Finally, the characterization of the KKP performed was proved to be useful in assessing the data reliability by directly comparing all the studies between each other; providing guidelines for the selection of actuator capacities depending on the end application; and highlighting optimization opportunities such as the implementation of agonist-antagonist actuators for particular human joints.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017, Springer International Publishing AG. This is an author produced version of a paper published in Lecture Notes in Computer Science. The final publication is available at Springer via https://doi.org/10.1007/978-3-319-64107-2_44. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Wearable robotics; Gait analysis; Lower limb; Kinematics; Kinetics |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 23 Aug 2017 09:51 |
Last Modified: | 22 Jan 2018 08:36 |
Status: | Published |
Publisher: | Springer Verlag |
Identification Number: | 10.1007/978-3-319-64107-2_44 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:120318 |