Slow walking model for children with multiple disabilities via an application of humanoid robot - Archive ouverte HAL
Article Dans Une Revue Mechanical Systems and Signal Processing Année : 2016

Slow walking model for children with multiple disabilities via an application of humanoid robot

Résumé

Walk training research with children having multiple disabilities is presented. Orthosis aid in walking for children with multiple disabilities such as Cerebral Palsy continues to be a clinical and technological challenge. In order to reduce pain and improve treatment strategies, an intermediate structure – humanoid robot NAO – is proposed as an assay platform to study walking training models, to be transferred to future special exoskeletons for children. A suitable and stable walking model is proposed for walk training. It would be simulated and tested on NAO. This comparative study of zero moment point (ZMP) supports polygons and energy consumption validates the model as more stable than the conventional NAO. Accordingly direction variation of the center of mass and the slopes of linear regression knee/ankle angles, the Slow Walk model faithfully emulates the gait pattern of children.
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Dates et versions

hal-03033855 , version 1 (01-12-2020)

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Zefeng Wang, Laurent Peyrodie, Hua Cao, Olivier Agnani, Eric Watelain, et al.. Slow walking model for children with multiple disabilities via an application of humanoid robot. Mechanical Systems and Signal Processing, 2016, 68-69, pp.608-619. ⟨10.1016/j.ymssp.2015.07.010⟩. ⟨hal-03033855⟩
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