The Faster Detection of the Step Initiation and the Prediction of the First Step’s Heel Strike Time with the Vertical GRF

Do Wan Cha; Keon Young Oh; Kab Il Kim; Suk Yung Park; Kyung Soo Kim; Soo Hyun Kim

doi:10.4028/www.scientific.net/AMM.245.330

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 245The Faster Detection of the Step Initiation and...

The Faster Detection of the Step Initiation and the Prediction of the First Step’s Heel Strike Time with the Vertical GRF

Abstract:

A new approach for the detection of the step initiation in the lower extremity exoskeleton is presented. As the detection of the step initiation is the important factor for the lower extremity exoskeleton to shadow the operator’s movement as soon as possible, many studies have been done to detect it faster by using heel-off time or toe-off time. We detect the step initiation faster than other approaches with the vertical ground reaction forces. Also, we predict the first step’s heel strike time with the regression equations based on the vertical ground reaction forces as soon as we detect the step initiation. It could enable the lower extremity exoskeleton to shadow the operator’s movement much faster.

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Periodical:

Applied Mechanics and Materials (Volume 245)

Pages:

330-333

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.245.330

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Online since:

December 2012

Authors:

Do Wan Cha, Keon Young Oh, Kab Il Kim, Suk Yung Park, Kyung Soo Kim, Soo Hyun Kim

Keywords:

Exoskeleton, Ground Reaction Force, Step Initiation

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References

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