%0 Journal Article
	%A Eileen Chih-Ying Yang and  Liang-Han Wu and  Chieh-Min Chang
	%D 2011
	%J International Journal of Mechanical and Materials Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 58, 2011
	%T Modeling and Design of an Active Leg Orthosis for Tumble Protection
	%U https://publications.waset.org/pdf/7860
	%V 58
	%X The design of an active leg orthosis for tumble
protection is proposed in this paper. The orthosis would be applied to
assist elders or invalids in rebalancing while they fall unexpectedly.
We observe the regain balance motion of healthy and youthful people,
and find the difference to elders or invalids. First, the physical model
of leg would be established, and we consider the leg motions are
achieve through four joints (phalanx stem, ankle, knee, and hip joint)
and five links (phalanges, talus, tibia, femur, and hip bone). To
formulate the dynamic equations, the coordinates which can clearly
describe the position in 3D space are first defined accordance with the
human movement of leg, and the kinematics and dynamics of the leg
movement can be formulated based on the robotics. For the purpose,
assisting elders and invalids in avoiding tumble, the posture variation
of unbalance and regaining balance motion are recorded by the
motion-capture image system, and the trajectory is taken as the desire
one. Then we calculate the force and moment of each joint based on
the leg motion model through programming MATLAB code. The
results would be primary information of the active leg orthosis design
for tumble protection.
	%P 1943 - 1948