Book ChapterDOI
Synthesis and Analysis of Jansen’s Leg-Based Mechanism for Gait Rehabilitation
D. S. Mohan Varma
- pp 303-315
TLDR
The Jansen leg mechanism is used as a start point in an optimization routine to arrive at a single DoF mechanism to trace the ankle trajectory and can be used in the design of rehabilitation devices and assistive exoskeletons.Abstract:
Theo Jansen built wind-powered walking mechanisms or strandbeasts using a basic 12-linked leg mechanism which has a single degree of freedom (DoF). In this work, the Jansen leg mechanism is used as a start point in an optimization routine to arrive at a single DoF mechanism to trace the ankle trajectory. Optimization and forward dynamic analysis methodology of the mechanism are presented. This preliminary work can be used in the design of rehabilitation devices and assistive exoskeletons.read more
Citations
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Journal ArticleDOI
A comparative study of kinematic analysis between conventional Theo Jansen mechanism and modified Theo Jansen mechanism developed using ABS for the development of spyder robot
TL;DR: In this article , the authors show the modifications and analysis performed in the Theo Jansen Mechanism to achieve the best step height and stride length with less jerk in the mechanism, while having low values of acceleration and smoothness of the velocity graph.
References
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Journal ArticleDOI
Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX)
TL;DR: In this paper, a robot assisted gait training (RAGT) was developed for stroke survivors using active leg exoskeleton (ALEX) and a force-field controller, which uses assist-as-needed paradigm for rehabilitation.
Journal ArticleDOI
Robotic orthosis lokomat: a rehabilitation and research tool.
TL;DR: The robotic orthosis Lokomat, developed to automate treadmill training rehabilitation of locomotion for spinal cord injured and stroke patients, is introduced to the Functional Electrical Stimulation (FES) and Neuromodulation research communities and newly conducted research is reported on.
Proceedings ArticleDOI
The KIT whole-body human motion database
TL;DR: A large-scale whole-body human motion database consisting of captured raw motion data as well as the corresponding post-processed motions serves as a key element for a wide variety of research questions related e.g. to human motion analysis, imitation learning, action recognition and motion generation in robotics.
Journal ArticleDOI
Conceptual design and dimensional synthesis of cam-linkage mechanisms for gait rehabilitation
TL;DR: In this article, a two degrees of freedom seven-bar crank-slider mechanism was selected as the original mechanism, of which the displacement of the slider was formulated as a function of the crank angle to achieve the target trajectory by using the inverse kinematics.
Proceedings ArticleDOI
Selective control of a subtask of walking in a robotic gait trainer(LOPES)
TL;DR: The preliminary results suggest that the virtual model control of the step height was able to control a subtask of walking, while leaving the remaining walking trajectory largely unaffected.
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