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3/2013 vol. 18
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ORIGINAL PAPER
Identification of Steady and Non-Steady Gait of Humanexoskeleton Walking System
K.K Żur 1,2
 
 
 
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1
Faculty of Management Bialystok University of Technology Ojca Tarasiuka street 2, 16-001 Kleosin, POLAND
 
2
Faculty of Mechanical Engineering Bialystok University of Technology Wiejska street 45C, 15-351 Bialystok, POLAND
 
 
Online publication date: 2013-09-06
 
 
Publication date: 2013-08-01
 
 
International Journal of Applied Mechanics and Engineering 2013;18(3):923-933
DOI: https://doi.org/10.2478/ijame-2013-0056
 
 
Article (PDF)
References (7)
 
KEYWORDS
identification
steady gait
non-steady gait
exoskeleton
 
ABSTRACT
In this paper a method of analysis of exoskeleton multistep locomotion was presented by using a computer with the preinstalled DChC program. The paper also presents a way to analytically calculate the “,motion indicator”, as well as the algorithm calculating its two derivatives. The algorithm developed by the author processes data collected from the investigation and then a program presents the obtained final results. Research into steady and non-steady multistep locomotion can be used to design two-legged robots of DAR type and exoskeleton control system
 
REFERENCES (7)
1.
Jaworek K. (1992): Method of evalouation of human locomotion for running and walking. - Work of Institute of Biocybernetics and Biomedical Engineering Polish Academy of Sciences, vol.32, Warsaw.
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2.
Jaworek K. (2006): Two investigatory hypothesis in biomechanics of human locomotion. - Making of VII Scientific Seminar Mechanics in Medicine, October, Boguchwała, pp.93-102.
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3.
Jaworek K., Derlatka M. and Dominikowski M. (1998): On an investigation of human locomotion by Penny and Giles electrogoniometer. - Proc. ed. by Christian Hogfors, vol.12, University of Goeteberg, Sweden, pp.21-27.
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Jaworek K. and Ferenc A. (1992): A cordless electrogoniometer for simplified gait analysis. - Proc. of International Centre of Biocybernetics IBiB-PAN, Warsaw, pp.53-63.
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5.
Winter D.A. (1991): The Biomechanics and Motor Control of Human Gait: Normal, Elderly and Pathological, (second edition). - Univeristy of Waterloo Press.
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6.
Żur K.K. (2011): A new idea of modelling and dynamic analysis of human walking apparatus. - Acta Mechanica et Automatica, No.1, Białystok, pp.148-153.
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7.
Żur K.K. and Jaworek K.A. (2011): New idea of control of walking anthropomophic robot DAR type, "Measurments.Control.Robotic". - Industrial Research Institute for Automation and Measurements, No.2, Warsaw, pp.462-473.
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