Robotic leg control based on Human motion analysis and neural control methods

Abstract

This work presents some results obtained from image processing and motion analysis of the human body. The issues raised in motion analysis are of interest for obtaining motion-specific parameters for movements of the human body. The resulting data (spatial coordinates, velocities and accelerations) are used for further processing in humanoid robotics and assistive and recuperative technologies for people with disabilities. The results are implemented on a robotic leg, which was developed in our laboratories. A model based neural control strategy is implemented, too. The performances of the implemented control strategies for trajectory tracking are analyzed by computer simulation.