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Rigid Body Guidance of Human Gait as Constrained TRS Serial Chain

[+] Author Affiliations
Gim Song Soh

Singapore University of Technology and Design, Singapore, Singapore

Paper No. DETC2014-34881, pp. V05AT08A063; 8 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


The motion of gait is a cyclical activity that requires the coordination between locomotion mechanism, motor control and musculoskeletal function. The basic assumption is that one stride is the same as the next. From a simplified kinematics point of view, the human gait can be considered as a TRS serial chain with six degrees-of-freedom driven by the pelvis rotational and tilting motion during walking. This paper presents a dimensional synthesis procedure for the design of two degrees-of-freedom of spatial eight-bar linkages by mechanically constraining a TRS serial chain. The goal is to develop a methodology for the design of under-actuated lower limb walking devices or passively driven exoskeleton systems.

The dimensional synthesis process starts with the specification of the links of a TRS chain according to the gait anthropometric data. We show the various ways how four TS constraints can be used to constrain the links of the this chain to obtain a two degrees-of-freedom spatial eight-bar linkage. We formulate and solve the design equations as well as analyze the resulting eight-bar linkage from the data we obtained from an optical motion capture system. An example demonstrates our results.

Copyright © 2014 by ASME
Topics: Chain



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