Control of foot trajectory in biped robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Exoskeletons with pre-programmed gait patterns, though a great help to spinal cord injured patients with paraplegia, exhibit a limitation in their inability to carry out user-intended foot movements. This project aims to overcome this limitation by building an interface to allow the user to control the trajectory of the robotic feet in real time. The interface consists of index and middle fingers simulating foot movements that are translated into movements of the feet of the biped robots in the sagittal plane. The finger movements represent the ankle trajectories and are converted to angular trajectories of robotic feet with 2-degrees of freedom using an inverse kinematics model.

Original languageEnglish (US)
Title of host publicationProceedings - 39th Annual Northeast Bioengineering Conference, NEBEC 2013
Pages203-204
Number of pages2
DOIs
StatePublished - Nov 8 2013
Event39th Annual Northeast Bioengineering Conference, NEBEC 2013 - Syracuse, NY, United States
Duration: Apr 5 2013Apr 7 2013

Publication series

NameProceedings of the IEEE Annual Northeast Bioengineering Conference, NEBEC
ISSN (Print)1071-121X
ISSN (Electronic)2160-7001

Other

Other39th Annual Northeast Bioengineering Conference, NEBEC 2013
CountryUnited States
CitySyracuse, NY
Period4/5/134/7/13

All Science Journal Classification (ASJC) codes

  • Bioengineering

Keywords

  • Degrees of freedom
  • Inverse Kinematics
  • Spinal cord injury

Fingerprint Dive into the research topics of 'Control of foot trajectory in biped robots'. Together they form a unique fingerprint.

Cite this