Study and validation of human gait in a virtual environment for a biped robot

• Published in: 2010 IEEE International Conference on Mechatronics and Automation pp. 1259 - 1263
• Main Authors: Cardona, Diego Alfonso Aguilar, Alban, Andres Vivas
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01-08-2010
• Subjects: Humans; Joints; Leg; Legged locomotion; Robot kinematics; Torque
• ISBN: 142445140X; 9781424451401
• ISSN: 2152-7431; 2152-744X
• DOI: 10.1109/ICMA.2010.5588588

The new technology advances have allowed us the design and construction of sophisticated artificial legs, which give a very close to normal human gait to patients that have received these devices. But the task is very difficult, and it requires a lot of research with interdisciplinary-science teams. One of the tools which lets to get excellent artificial legs is the study and design of biped robots, since they can test the algorithms of control balance and equilibrium together with the desired joint positions in human gait with the consequently learning of the requirements to get the best possible construction of artificial legs, so that patients can feel these prosthesis as they do with natural legs. This study presents the second part of a new methodology to get an optimum design of prothesis legs. It has been built a Three Dimentional (3D) Environment for physical simulation, together with a calculated torque control for a biped robot to simulate human gait, starting from desired joint positions, acquired previously and modified by the balance requirements, this way, it is possible to get movements from the robot very near to the real ones, and so, to obtain a proposal prosthesis that minimizes the traumatism in the patients.