Control of a lower limb exoskeleton using Learning from Demonstration and an iterative Linear Quadratic Regulator Controller: A simulation study

2021 ◽  
Author(s):  
Nathaniel Goldfarb ◽  
Haoying Zhou ◽  
Charles Bales ◽  
Gregory S. Fischer
Keyword(s):  
Simulation Study ◽  
Lower Limb ◽  
Linear Quadratic Regulator ◽  
Learning From Demonstration ◽  
Linear Quadratic ◽  
Lower Limb Exoskeleton

scholarly journals Reachability Analysis for Robustness Evaluation of the Sit-to-Stand Movement for Powered Lower Limb Orthoses

2018 ◽  
Author(s):  
Octavio Narvaez-Aroche ◽  
Andrew Packard ◽  
Pierre-Jean Meyer ◽  
Murat Arcak
Keyword(s):  
Lower Limb ◽  
Center Of Mass ◽  
Linear Quadratic Regulator ◽  
The State ◽  
Reachable Sets ◽  
Linear Quadratic ◽  
Initial State ◽  
Worst Case ◽  
Sit To Stand ◽  
Finite Time Horizon

A sensitivity-based approach for computing over-approximations of reachable sets, in the presence of constant parameter uncertainty and a single initial state, is used to analyze a three-link planar robot modeling a Powered Lower Limb Orthosis and its user. Given the nature of the mappings relating the state and parameters of the system with the input, and output describing the trajectories of its Center of Mass, reachable sets for their respective spaces can be obtained relying on the sensitivities of the nonlinear closed-loop dynamics in the state space. These over-approximations are used to evaluate the worst-case performances of a finite time horizon linear-quadratic regulator for controlling the ascending phase of the Sit-To-Stand movement.

A Study on Linear Quadratic Regulator with the Desired Low-Pass Property

2013 ◽  
Vol 133 (12) ◽  
pp. 2167-2175 ◽  
Author(s):  
Katsuhiko Fuwa ◽  
Satoshi Murayama ◽  
Tatsuo Narikiyo
Keyword(s):  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Low Pass

Analyzing Motor Primitives of Healthy Subjects Wearing a Lower Limb Exoskeleton

2017 ◽  
Author(s):  
Wilian dos Santos ◽  
Samuel Lourenco ◽  
Adriano Siqueira ◽  
Polyana Ferreira Nunes
Keyword(s):  
Lower Limb ◽  
Healthy Subjects ◽  
Motor Primitives ◽  
Lower Limb Exoskeleton

Human-In-the-Loop Control of a Wearable Lower Limb Exoskeleton for Stable Dynamic Walking

2020 ◽  
pp. 1-1
Author(s):  
Zhijun Li ◽  
Kuankuan Zhao ◽  
Longbin Zhang ◽  
Xinyu Wu ◽  
Tao Zhang ◽  
...  
Keyword(s):  
Lower Limb ◽  
Dynamic Walking ◽  
Loop Control ◽  
Human In The Loop ◽  
Lower Limb Exoskeleton
Sign in / Sign up

Export Citation Format

Share Document