Estimation of knee joint motor position based on prediction of IMU gait cycle in lower extremity exoskeleton

R. Analia, I. C. Aryanto, Susanto, D.S Sutopo, H. Soebhakti, A. Sani

Abstract: A rehabilitation exoskeleton is a robot used for rehabilitation procedure. In order that the wearer is able to move freely and comfortably in wearing the rehabilitation exoskeleton, it is necessary to adjust the motor angle. The angle value applied to the exoskeleton must suit the users’ needs, so that it can assist the rehabilitation process more rapidly. In this study, we used the neural network method to generate the angle of the servo motor and used the gait cycle phase as a reference signal to assist the knee joint. In order to verify the method, the experiment results were carried out in real-time application. The results show that the proposed method is able to provide the knee assist by generating the servo position from the proposed method in accordance with the reference signal.


Series on Biomechanics, Vol.35 No.4 (2021), 21- 31

Keywords: assistive position generation; gait cycle; neural network; Rehabilitation robot

Date published: 2021-12-29