Design and Simulation of a New Lower Exoskeleton for Rehabilitation of Patients with Paraplegia

2017 ◽  
pp. 522-534
Author(s):  
Fermín C. Aragón ◽  
C. Hernández-Santos ◽  
José-Isidro Hernández Vega ◽  
Daniel Andrés Córdova ◽  
Dolores Gabriela Palomares Gorham ◽  
...  
Keyword(s):  
Lower Exoskeleton

Evaluation of a Fuzzy-Based Impedance Control Strategy on a Powered Lower Exoskeleton

2015 ◽  
Vol 8 (1) ◽  
pp. 103-123 ◽  
Author(s):  
Huu Toan Tran ◽  
Hong Cheng ◽  
Huang Rui ◽  
XiChuan Lin ◽  
Mien Ka Duong ◽  
...  
Keyword(s):  
Control Strategy ◽  
Impedance Control ◽  
Lower Exoskeleton

Model-based Control with Interaction Predicting for Human-coupled Lower Exoskeleton Systems

2020 ◽  
Vol 100 (2) ◽  
pp. 389-400 ◽  
Author(s):  
Guangkui Song ◽  
Rui Huang ◽  
Jing Qiu ◽  
Hong Cheng ◽  
Shuai Fan
Keyword(s):  
Model Based Control ◽  
Model Based ◽  
Lower Exoskeleton

scholarly journals BIO-BASED SUPERVISORY CONTROL OF A LOWER EXOSKELETON FOR STANCE PHASE

2018 ◽  
Vol 54 (3A) ◽  
pp. 115
Author(s):  
Tran Huu Toan
Keyword(s):  
Control Strategy ◽  
Stance Phase ◽  
Human Performance ◽  
Impedance Control ◽  
Tracking Error ◽  
Electrical Power ◽  
Biomechanical Analysis ◽  
Lower Limb Exoskeleton ◽  
Walking Speeds ◽  
Lower Exoskeleton

This paper presents a newly supervisory impedance control strategy of a wearable lower limb exoskeleton in stance phase intended to enhance human performance and support load-carrying using biomechanical analysis. In order to control the coupled human-robot system, the impedance control strategy, previously developed by the authors for swing phase, has been herein expanded up to the stance phase by regulating the desired impedance between the exoskeleton and a wearer's limb according to a specific motion speed. The effect of human behaviours on the change of impedance parameters across variable walking speeds in the stance phase is adopted to design the fuzzy rules for the control strategy. The control performance of the designed exoskeleton is evaluated on a bench-testing over different ranges of walking speeds (about 0.3 m/s to 1.2 m/s). Experimental results show that the resulting interaction torque, the human-exoskeleton tracking error, and electrical power consumption are significantly reduced as compared to a traditional impedance control, especially in the stance phase. Besides that, an average of 72.3 % of the load was transferred to the ground by the exoskeleton during the stance phase of walking. The developed control strategy on the lower exoskeleton has the potential to increase comfort and adaptation to users during daily use.

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