Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot
Abstract To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases, this paper proposes a novel gait balance training robot (G-Balance) based on a six degree-of-freedom parallel platform. Using the platform movement and IMU wearabl...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SpringerOpen
2022-01-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-021-00665-1 |
| _version_ | 1818979393542815744 |
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| author | Fu Yuan Diansheng Chen Chenghang Pan Jun Du Xiaodong Wei Min Wang |
| author_facet | Fu Yuan Diansheng Chen Chenghang Pan Jun Du Xiaodong Wei Min Wang |
| author_sort | Fu Yuan |
| collection | DOAJ |
| description | Abstract To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases, this paper proposes a novel gait balance training robot (G-Balance) based on a six degree-of-freedom parallel platform. Using the platform movement and IMU wearable sensors, two training modes, i.e., active and passive, are developed to achieve vestibular stimulation. Virtual reality technology is applied to achieve visual stimulation. In the active training mode, the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene. In the passive training mode, the platform movement is combined with the virtual scene to simulate bumpy environments, such as earthquakes, to enhance the human anti-interference ability. To achieve a smooth switching of the scene, continuous speed and acceleration of the platform motion are required in some scenarios, in which a trajectory planning algorithm is applied. This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk (differential of acceleration) based on cubic spline planning, which can reduce impact on the joint and enhance stability. |
| first_indexed | 2024-12-20T16:58:49Z |
| format | Article |
| id | doaj.art-3bd047bffc5147838cd17e53b8856136 |
| institution | Directory Open Access Journal |
| issn | 1000-9345 2192-8258 |
| language | English |
| last_indexed | 2024-12-20T16:58:49Z |
| publishDate | 2022-01-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-3bd047bffc5147838cd17e53b88561362022-12-21T19:32:37ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582022-01-0135111210.1186/s10033-021-00665-1Application of Optimal-Jerk Trajectory Planning in Gait-balance Training RobotFu Yuan0Diansheng Chen1Chenghang Pan2Jun Du3Xiaodong Wei4Min Wang5Robotics Institute, Mechanical Engineering and Automation, Beihang UniversityRobotics Institute, Mechanical Engineering and Automation, Beihang UniversityRobotics Institute, Mechanical Engineering and Automation, Beihang UniversityRobotics Institute, Mechanical Engineering and Automation, Beihang UniversityRobotics Institute, Mechanical Engineering and Automation, Beihang UniversityRobotics Institute, Mechanical Engineering and Automation, Beihang UniversityAbstract To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases, this paper proposes a novel gait balance training robot (G-Balance) based on a six degree-of-freedom parallel platform. Using the platform movement and IMU wearable sensors, two training modes, i.e., active and passive, are developed to achieve vestibular stimulation. Virtual reality technology is applied to achieve visual stimulation. In the active training mode, the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene. In the passive training mode, the platform movement is combined with the virtual scene to simulate bumpy environments, such as earthquakes, to enhance the human anti-interference ability. To achieve a smooth switching of the scene, continuous speed and acceleration of the platform motion are required in some scenarios, in which a trajectory planning algorithm is applied. This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk (differential of acceleration) based on cubic spline planning, which can reduce impact on the joint and enhance stability.https://doi.org/10.1186/s10033-021-00665-1Gait and balance training robotBalance training modeOptimal trajectory planning |
| spellingShingle | Fu Yuan Diansheng Chen Chenghang Pan Jun Du Xiaodong Wei Min Wang Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot Chinese Journal of Mechanical Engineering Gait and balance training robot Balance training mode Optimal trajectory planning |
| title | Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot |
| title_full | Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot |
| title_fullStr | Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot |
| title_full_unstemmed | Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot |
| title_short | Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot |
| title_sort | application of optimal jerk trajectory planning in gait balance training robot |
| topic | Gait and balance training robot Balance training mode Optimal trajectory planning |
| url | https://doi.org/10.1186/s10033-021-00665-1 |
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