[1]YI Chunzhi,GUO Hao,DING Zhen,et al.Research progress of lower-limb exoskeleton and joint kinematics calculation[J].CAAI Transactions on Intelligent Systems,2018,13(6):878-888.[doi:10.11992/tis.201804063]
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Research progress of lower-limb exoskeleton and joint kinematics calculation

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 6 Page number: 878-888 Column: 综述 Public date: 2018-10-25
Title:
Research progress of lower-limb exoskeleton and joint kinematics calculation
Author(s):
YI Chunzhi1;  GUO Hao1;  DING Zhen1;  ZHU Rui1;  YANG Chifu1;  LIU Shaohui2;  JIANG Feng2
1. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China;
2. School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China
Keywords:
lower-limb exoskeleton; orthoses; robotics; walking; wearable; inertial measurement unit (IMU)
CLC:
TP391.4
DOI:
10.11992/tis.201804063
Abstract:
With the development of sensor fusion, mobile computing, and intelligent actuation, as well as the in-depth understanding of the biomechanics, lower-limb exoskeleton, which is an assistive, wearable intelligent device that operates parallel to human legs, has become the key research area of many research institutes around the world. In this paper, recent research progresses in lower-limb exoskeleton are reviewed in detail. In addition, an inertial measurement unit (IMU)-based human lower-limb kinematics calculation method is proposed to meet the need of small sensors in real-time kinematics calculation and control for lower-limb exoskeleton. The calculation of IMU-based single-degree-of-freedom joint angle achieves better result.
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