01933nas a2200145 4500008004100000245007500041210006900116520140200185100001901587700001401606700002001620700002601640700001801666856010301684 2021 eng d00aKinematic comparison of single degree-of-freedom robotic gait trainers0 aKinematic comparison of single degreeoffreedom robotic gait trai3 a

Single degree-of-freedom mechanized gait trainers employing linkage mechanisms
can imitate the gait trajectory of the human user at a potentially lower cost than current
commercial solutions. Our goal was to evaluate recently introduced four-, six- and
eight-bar designs from the standpoint of kinematics, that is, the ability to follow a
natural gait pattern. Based on gait database of 113 healthy individuals, we synthesized
mechanisms allowing two link length adjustments and compared trajectory and path

accuracy of the ankle across mechanisms. We used cross-validation to obtain data-
independent accuracy. We used gait trajectories from a large human database and

predicted additional trajectories to represent effects of varying heights and speeds. We
found that trajectory error was significantly lower in the eight-bar mechanism (3.77 ±
0.17 cm, mean ± SD) than the four- (6.84 ± 0.37 cm) and six-bar (7.15 ± 0.48 cm)

configurations (p<0.0001). However, we did not observe differences in time-
independent path error between configurations, or in mechanical advantage (p>0.05).

We conclude that the eight-bar configuration is best when the mechanism is tied to a
constant velocity actuator, whereas the four-bar mechanism performs as well if the
actuator is well-controlled.

1 aLee, Jeonghwan1 aLi, Lailu1 aShin, Sung, Yul1 aDeshpande, Ashish, D.1 aSulzer, James uhttps://reneu.robotics.utexas.edu/kinematic-comparison-single-degree-freedom-robotic-gait-trainers00579nas a2200133 4500008004100000245008000041210006900121260004500190300003000235100002300265700002200288700002600310856010900336 2013 eng d00aKinematics and Dynamics of a Biologically Inspired Index Finger Exoskeleton0 aKinematics and Dynamics of a Biologically Inspired Index Finger  bAmerican Society of Mechanical Engineers aV002T28A001–V002T28A0011 aAgarwal, Priyanshu1 aHechanova, Arnold1 aDeshpande, Ashish, D. uhttps://reneu.robotics.utexas.edu/kinematics-and-dynamics-biologically-inspired-index-finger-exoskeleton