This paper presents a sensor-guided gait-synchronization system to help potential unilateral knee-injured people walk normally with a weight-supported lower-extremity-exoskeleton(LEE).This relieves the body weight loading on the knee-injured leg and synchronizes its motion with that of the healthy leg during the swing phase of walking.The sensor-guided gait-synchronization system is integrated with a body sensor network designed to sense the motion/gait of the healthy leg.Guided by the measured joint-angle trajectories,the motorized hip joint lifts the links during walking and synchronizes the knee-injured gait with the healthy gait by a half-cycle delay.The effectiveness of the LEE is illustrated experimentally.We compare the measured joint-angle trajectories between the healthy and knee-injured legs,the simulated knee forces,and the human-exoskeleton interaction forces.The results indicate that the motorized hip-controlled LEE can synchronize the motion/gait of the combined body-weight-supported LEE and injured leg with that of the healthy leg.

Donghai WANG

State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China;Guangdong Sygole Intelligent Technology Co.,Ltd.,Dongguan 523808,China

信息与电子工程前沿（英文）

[1]Donghai WANG-.Sensor-guided gait-synchronization lower-extremity-exoskeleton for potential application on unilateral knee-injured people)[J].信息与电子工程前沿（英文）,2022(06):920-936

synchronizes

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