01Jan 2017

ROBOTIC CONFIGURATION FOR PARALYZED SWING LEG WITH EFFORT MINIMIZATION OF ALL JOINTS TO GET GAIT TRAJECTORY

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This research work was aimed at an alternate approach for walking and training the paralyzed leg with a robot attached to the pelvis. The dynamic properties considered in this work were mass, center of gravity, moments of inertia of each link and the friction at each joint. The least square method was employed to identify the dynamic properties after exciting the robot and collecting the data of joint positions, velocities, accelerations and applied forces. A robot attached to the pelvis was employed to control the stepping motion of a paralyzed person suspended on a treadmill. The robot configuration was optimized to minimize effort at all joints of legs. The optimized and motion captured joint motions were nearly equal to get the desired final configurations of the leg.


[. Chennakesava Reddy, B. Kotiveerachari, P. Rami Reddy (2015); ROBOTIC CONFIGURATION FOR PARALYZED SWING LEG WITH EFFORT MINIMIZATION OF ALL JOINTS TO GET GAIT TRAJECTORY Int. J. of Adv. Res. 3 (2). 0] (ISSN 2320-5407). www.journalijar.com


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