Evaluation of Force Tracking Controller with Soft Exosuit for Hip Extension Assistance

2016 ◽  
pp. 107-111
Author(s):  
Hao Su ◽  
Ye Ding ◽  
Ignacio Galiana ◽  
Jozefien Speeckaert ◽  
Nikos Karavas ◽  
...  
Keyword(s):  
Tracking Controller ◽  
Force Tracking ◽  
Hip Extension ◽  
Soft Exosuit

Autonomous Soft Exosuit for Hip Extension Assistance

2016 ◽  
pp. 331-335 ◽  
Author(s):  
Nikos Karavas ◽  
Jinsoo Kim ◽  
Ignacio Galiana ◽  
Ye Ding ◽  
Adam Couture ◽  
...  
Keyword(s):  
Hip Extension ◽  
Soft Exosuit

scholarly journals Effect of timing of hip extension assistance during loaded walking with a soft exosuit

2016 ◽  
Vol 13 (1) ◽  
Author(s):  
Ye Ding ◽  
Fausto A. Panizzolo ◽  
Christopher Siviy ◽  
Philippe Malcolm ◽  
Ignacio Galiana ◽  
...  
Keyword(s):  
Hip Extension ◽  
Loaded Walking ◽  
Soft Exosuit

Cascaded Robust Nonlinear Position Tracking Control of an Electrohydraulic Actuator: Sliding Mode and Feed Forward

2006 ◽  
Author(s):  
Beshahwired Ayalew ◽  
Kathryn W. Jablokow
Keyword(s):  
Tracking Control ◽  
Measurement Errors ◽  
Sliding Mode ◽  
Test System ◽  
Position Tracking ◽  
Performance Bounds ◽  
Feed Forward ◽  
Tracking Controller ◽  
Force Tracking ◽  
Position Tracking Control

An approach to position tracking control based on a cascade of a nonlinear force tracking controller derived from a near input-output linearization framework and a simple feedback plus feed forward position controller is presented. The method exploits the cascade structure to employ a sliding mode pressure force tracking controller as inner-loop and the position tracking controller as an outer-loop. Furthermore, it is highlighted that Lyapunov backstepping analysis can be used to drive performance bounds and reveal trade-offs between the size of uncertainty and measurement errors and the tracking accuracy. The performance of the proposed cascaded robust controller is demonstrated with experiments and simulations on a test system that doesn't necessarily satisfy all of the assumptions made for controller derivation. In particular, a typical comparison of the robust and nominal cascade controllers shows the robust version can recover the performance of the nominal near IO linearizing controller. In addition, model simulation results are included to show the performance of the controller in the presence of some combinations of perturbations or difficult to estimate parameters such as valve coefficient, supply pressure, piston friction, and inclusion of servovalve spool dynamics.

Human-in-the-Loop Bayesian Optimization of a Tethered Soft Exosuit for Assisting Hip Extension

2018 ◽  
pp. 142-146 ◽  
Author(s):  
Myunghee Kim ◽  
Ye Ding ◽  
Charles Liu ◽  
Jinsoo Kim ◽  
Sangjun Lee ◽  
...  
Keyword(s):  
Bayesian Optimization ◽  
Human In The Loop ◽  
Hip Extension ◽  
Soft Exosuit

IMU-based iterative control for hip extension assistance with a soft exosuit

2016 ◽  
Author(s):  
Ye Ding ◽  
Ignacio Galiana ◽  
Christopher Siviy ◽  
Fausto A. Panizzolo ◽  
Conor Walsh
Keyword(s):  
Iterative Control ◽  
Hip Extension ◽  
Soft Exosuit

scholarly journals A Novel Lightweight Wearable Soft Exosuit for Reducing the Metabolic Rate and Muscle Fatigue

Biosensors ◽  
2021 ◽  
Vol 11 (7) ◽  
pp. 215
Author(s):  
Lingxing Chen ◽  
Chunjie Chen ◽  
Zhuo Wang ◽  
Xin Ye ◽  
Yida Liu ◽  
...  
Keyword(s):  
Muscle Fatigue ◽  
Vastus Lateralis ◽  
Rectus Femoris ◽  
The Novel ◽  
Robotic Devices ◽  
Extra Weight ◽  
Hip Flexion ◽  
Rehabilitation Exercises ◽  
Hip Extension ◽  
Soft Exosuit

Wearable robotic devices have been proved to considerably reduce the energy expenditure of human walking. It is not only suitable for healthy people, but also for some patients who require rehabilitation exercises. However, in many cases, the weight of soft exosuits are relatively large, which makes it difficult for the assistant effect of the system to offset the metabolic consumption caused by the extra weight, and the heavy weight will make people uncomfortable. Therefore, reducing the weight of the whole system as much as possible and keeping the soft exosuit output power unchanged, may improve the comfort of users and further reduce the metabolic consumption. In this paper, we show that a novel lightweight soft exosuit which is currently the lightest among all known powered exoskeletons, which assists hip flexion. Indicated from the result of experiment, the novel lightweight soft exosuit reduces the metabolic consumption rate of wearers when walking on the treadmill at 5 km per hour by 11.52% compared with locomotion without the exosuit. Additionally, it can reduce more metabolic consumption than the hip extension assisted (HEA) and hip flexion assisted (HFA) soft exosuit which our team designed previously, which has a large weight. The muscle fatigue experiments show that using the lightweight soft exosuit can also reduce muscle fatigue by about 10.7%, 40.5% and 5.9% for rectus femoris, vastus lateralis and gastrocnemius respectively compared with locomotion without the exosuit. It is demonstrated that decreasing the weight of soft exosuit while maintaining the output almost unchanged can further reduce metabolic consumption and muscle fatigue, and appropriately improve the users’ comfort.

scholarly journals A SLIDING MODE FUZZY FORCE TRACKING CONTROLLER FOR PNEUMATIC CYLINDERS

2005 ◽  
Vol 2005 (6) ◽  
pp. 173-178
Author(s):  
Bin XU ◽  
Yasuhiro HAYAKAWA ◽  
Shunmugham R. PANDIAN
Keyword(s):  
Sliding Mode ◽  
Tracking Controller ◽  
Force Tracking ◽  
Pneumatic Cylinders
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