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Modeling a Predictive Control of Human Locomotion Based on the Dynamic Behavior
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Author(s): Joao Mauricio Rosario (State University of Campinas, Brazil), Leonimer Flavio de Melo (State University of Londrina, Brazil), Didier Dumur (CentraleSupélec, France), Maria Makarov (CentraleSupélec, France), Jessica Fernanda Pereira Zamaia (State University of Londrina, Brazil)and Gabriel Fillipe Centini Campos (State University of Londrina, Brazil)
Copyright: 2021
Pages: 16
Source title:
Research Anthology on Emerging Technologies and Ethical Implications in Human Enhancement
Source Author(s)/Editor(s): Information Resources Management Association (USA)
DOI: 10.4018/978-1-7998-8050-9.ch011
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Abstract
This chapter presents the development of a lower limb orthosis based on the continuous dynamic behavior and on the events presented on the human locomotion, when the legs alternate between different functions. A computational model was developed to approach the different functioning models related to the bipedal anthropomorphic gait. Lagrange modeling was used for events modeling the non-holonomic dynamics of the system. This chapter combines the comparison of the use of the predictive control based on dynamical study and the decoupling of the dynamical model, with auxiliary parallelograms, for locating the center of mass of the mechanism using springs in order to achieve the balancing of each leg. Virtual model was implemented and its kinematic and dynamic motion analyzed through simulation of an exoskeleton, aimed at lower limbs, for training and rehabilitation of the human gait, in which the dynamic model of anthropomorphic mechanism and predictive control architecture with robust control is already developed.
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