ARCHIVES
Research Article
Mathematical Modeling of Gait for Lower Limb Exoskeleton
Takeshwar kaushik1
Khemanshu kumar Sahu2
Deepak Sharma3
1,2 Assistant Professor, Mechanical Engineering Department, ISBM University, Chhura, Gariyaband, Chhattishgarh, India. 3 Research Scholar, Mechanical Engineering Department, IIT GOA, India
Published Online: November-December 2023
Pages: 06-14
Cite this article
↗ https://www.doi.org/10.59256/ijsreat.20230306002
References
1. Cenciarini, M. & Dollar, A. M. (2011). Biomechanical considerations in the design of lower limb exoskeletons. 2011 IEEE International
Conference on Rehabilitation Robotics.
2. Chen, G., Qi, P., Guo, Z. & Yu, H. (2016). Mechanical design and evaluation of a compact portable knee–ankle–foot robot for gait
rehabilitation. Mechanism and Machine Theory, 103, 51–64.
3. Chen, J., Mu, X. & Du, M. (2017). Biomechanics analysis of human lower limb during walking for exoskeleton design, Journal of
Vibroengineering, 19(7), 5527-5539.
4. Damsgaard, M., Rasmussen, J., Christensen, S. T., Surma, E. & de Zee, M. (2006). Analysis of musculoskeletal systems in the AnyBody
Modeling System. Simulation Modeling Practice and Theory, 14(8), 1100–1111.
5. Han, Y. & Wang, X. (2011). The biomechanical study of lower limb during human walking. Science China Technological Sciences, 54(4),
983–991.
6. Huo, W., Mohammed, S., Moreno, J. C. & Amirat, Y. (2016). Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of
the Art. IEEE Systems Journal, 10(3), 1068–1081.
7. Kadaba, M. P., Ramakrishnan, H. K. & Wootten, M. E. (1990). Measurement of lower extremity kinematics during level walking. Journal
of Orthopaedic Research, 8(3), 383–392.
8. Lee, H., Kim, W., Han, J. & Han, C. (2012). The technical trend of the exoskeleton robot system for human power assistance. International
Journal of Precision Engineering and Manufacturing, 13(8), 1491–1497.
9. Li, M., Deng, J., Zha, F., Qiu, S., Wang, X. & Chen, F. (2018). Towards Online Estimation of Human Joint Muscular Torque with a Lower
Limb Exoskeleton Robot. Applied Sciences, 8(9), 1610.
10. Lovrenovic, Z. & Doumit, M. (2016). Review and analysis of recent development of lower extremity exoskeletons for walking assist. 2016
IEEE EMBS International Student Conference (ISC).
11. Maria, S.L.J. & Pablo, C.C. (2017) Human Gait Kinematic Measurement. Open Journal of Orthope dics, 7, 79-89.
12. Moreira, P., Lugrís U., Cuadrado J. & Flores P. (2013). Biomechanical models for human gait analyses using inverse dynamics
formulation. Paper presented at: The 5th Portuguese Biomechanics Congress, Espinho, Portugal, February.
13. Tao, W., Liu, T., Zheng, R. & Feng, H. (2012). Gait Analysis Using Wearable Sensors. Sensors, 12(2), 2255–2283.
14. Vimieiro, C., Andrada, E., Witte, H. & Pinotti, M. (2013). A computational model for dynamic analysis of the human gait. Computer
Methods in Biomechanics and Biomedical Engineering, 18(7), 799–804.
15. Wahab, Y. & Bakar, N. A. (2011). Gait analysis measurement for sport application based on ultrasonic system. 2011 IEEE 15th
International Symposium on Consumer Electronics (ISCE).
16. Wu, X., Liu, D.-X., Liu, M., Chen, C. & Guo, H. (2018). Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton
Robot. IEEE Transactions on Automation Science and Engineering, 15(4), 1459 – 1470.
17. Zhang, G., Liu, G., Ma, S., Wang, T., Zhao, J. & Zhu, Y. (2017). Biomechanical design of escalading lower limb exoskeleton with novel
linkage joints. Technology and Health Care, 25, 267–273.
18. Zhiyong, T., Xiaodong, X., & Zhongcai, P. (2015). Trajectory planning and mechanic’s analysis of lower limb rehabilitation robot. Bio-
Medical Materials and Engineering, 26(s1), S347–S355.
19. BTS GAITLAB – Analysis Protocols Helen Hayes Protocol
Conference on Rehabilitation Robotics.
2. Chen, G., Qi, P., Guo, Z. & Yu, H. (2016). Mechanical design and evaluation of a compact portable knee–ankle–foot robot for gait
rehabilitation. Mechanism and Machine Theory, 103, 51–64.
3. Chen, J., Mu, X. & Du, M. (2017). Biomechanics analysis of human lower limb during walking for exoskeleton design, Journal of
Vibroengineering, 19(7), 5527-5539.
4. Damsgaard, M., Rasmussen, J., Christensen, S. T., Surma, E. & de Zee, M. (2006). Analysis of musculoskeletal systems in the AnyBody
Modeling System. Simulation Modeling Practice and Theory, 14(8), 1100–1111.
5. Han, Y. & Wang, X. (2011). The biomechanical study of lower limb during human walking. Science China Technological Sciences, 54(4),
983–991.
6. Huo, W., Mohammed, S., Moreno, J. C. & Amirat, Y. (2016). Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of
the Art. IEEE Systems Journal, 10(3), 1068–1081.
7. Kadaba, M. P., Ramakrishnan, H. K. & Wootten, M. E. (1990). Measurement of lower extremity kinematics during level walking. Journal
of Orthopaedic Research, 8(3), 383–392.
8. Lee, H., Kim, W., Han, J. & Han, C. (2012). The technical trend of the exoskeleton robot system for human power assistance. International
Journal of Precision Engineering and Manufacturing, 13(8), 1491–1497.
9. Li, M., Deng, J., Zha, F., Qiu, S., Wang, X. & Chen, F. (2018). Towards Online Estimation of Human Joint Muscular Torque with a Lower
Limb Exoskeleton Robot. Applied Sciences, 8(9), 1610.
10. Lovrenovic, Z. & Doumit, M. (2016). Review and analysis of recent development of lower extremity exoskeletons for walking assist. 2016
IEEE EMBS International Student Conference (ISC).
11. Maria, S.L.J. & Pablo, C.C. (2017) Human Gait Kinematic Measurement. Open Journal of Orthope dics, 7, 79-89.
12. Moreira, P., Lugrís U., Cuadrado J. & Flores P. (2013). Biomechanical models for human gait analyses using inverse dynamics
formulation. Paper presented at: The 5th Portuguese Biomechanics Congress, Espinho, Portugal, February.
13. Tao, W., Liu, T., Zheng, R. & Feng, H. (2012). Gait Analysis Using Wearable Sensors. Sensors, 12(2), 2255–2283.
14. Vimieiro, C., Andrada, E., Witte, H. & Pinotti, M. (2013). A computational model for dynamic analysis of the human gait. Computer
Methods in Biomechanics and Biomedical Engineering, 18(7), 799–804.
15. Wahab, Y. & Bakar, N. A. (2011). Gait analysis measurement for sport application based on ultrasonic system. 2011 IEEE 15th
International Symposium on Consumer Electronics (ISCE).
16. Wu, X., Liu, D.-X., Liu, M., Chen, C. & Guo, H. (2018). Individualized Gait Pattern Generation for Sharing Lower Limb Exoskeleton
Robot. IEEE Transactions on Automation Science and Engineering, 15(4), 1459 – 1470.
17. Zhang, G., Liu, G., Ma, S., Wang, T., Zhao, J. & Zhu, Y. (2017). Biomechanical design of escalading lower limb exoskeleton with novel
linkage joints. Technology and Health Care, 25, 267–273.
18. Zhiyong, T., Xiaodong, X., & Zhongcai, P. (2015). Trajectory planning and mechanic’s analysis of lower limb rehabilitation robot. Bio-
Medical Materials and Engineering, 26(s1), S347–S355.
19. BTS GAITLAB – Analysis Protocols Helen Hayes Protocol
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