scholarly journals A fast parameterized gait planning method for a lower-limb exoskeleton robot

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989322 ◽  
Author(s):  
Hao Ren ◽  
Wanfeng Shang ◽  
Niannian Li ◽  
Xinyu Wu
Keyword(s):  
Lower Limb ◽  
Planning Process ◽  
Planning Method ◽  
Planning System ◽  
Gait Planning ◽  
Lower Limb Exoskeleton ◽  
Inverted Pendulum Model ◽  
Exoskeleton Robot ◽  
Dynamic Motion Planning ◽  
Application Requirements

In order to meet requirements of diverse activities of exoskeleton robot in practical application, a dynamic motion planning system is proposed using a fast parameterized gait planning method in this article. This method can plan the required gait data by adaptively adjusting very few parameters according to different application requirements. The inverted pendulum model is used to ensure the sagittal stability of the robot in the planning process. And this article specifies the end location of robot and iterates the associated joint angles by inverse kinematics. The gait trajectories generated by the proposed method are applied to the lightweight lower-limb exoskeleton robot. The results demonstrate that the trajectories of gait can be online generated smoothly and correctly, meanwhile every variable step can be satisfied as expected.

scholarly journals Lower Limb Exoskeleton Gait Planning Based on Crutch and Human-Machine Foot Combined Center of Pressure

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7216
Author(s):  
Wei Yang ◽  
Jiyu Zhang ◽  
Sheng Zhang ◽  
Canjun Yang
Keyword(s):  
Lower Limb ◽  
Stride Length ◽  
Center Of Pressure ◽  
Balance Control ◽  
Effective Means ◽  
Stability Control ◽  
Planning Method ◽  
Gait Planning ◽  
Lower Limb Exoskeleton ◽  
Cord Injury

With the help of wearable robotics, the lower limb exoskeleton becomes a promising solution for spinal cord injury (SCI) patients to recover lower body locomotion ability. However, fewer exoskeleton gait planning methods can meet the needs of patient in real time, e.g., stride length or step width, etc., which may lead to human-machine incoordination, limit comfort, and increase the risk of falling. This work presents a human-exoskeleton-crutch system with the center of pressure (CoP)-based gait planning method to enable the balance control during the exoskeleton-assisted walking with crutches. The CoP generated by crutches and human-machine feet makes it possible to obtain the overall stability conditions of the system in the process of exoskeleton-assisted quasi-static walking, and therefore, to determine the next stride length and ensure the balance of the next step. Thus, the exoskeleton gait is planned with the guidance of stride length. It is worth emphasizing that the nominal reference gait is adopted as a reference to ensure that the trajectory of the swing ankle mimics the reference one well. This gait planning method enables the patient to adaptively interact with the exoskeleton gait. The online gait planning walking tests with five healthy volunteers proved the method’s feasibility. Experimental results indicate that the algorithm can deal with the sensed signals and plan the landing point of the swing leg to ensure balanced and smooth walking. The results suggest that the method is an effective means to improve human–machine interaction. Additionally, it is meaningful for the further training of independent walking stability control in exoskeletons for SCI patients with less assistance of crutches.

Design of M-G modal space sliding mode control for lower limb exoskeleton robot driven by electrical actuators

Mechatronics ◽  
2021 ◽  
Vol 78 ◽  
pp. 102610
Author(s):  
Jinsong Zhao ◽  
Tao Yang ◽  
Zhilei Ma ◽  
Chifu Yang ◽  
Zhipeng Wang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Exoskeleton Robot ◽  
Modal Space

Trajectory following control of lower limb exoskeleton robot based on Udwadia–Kalaba theory

2021 ◽  
pp. 107754632110317
Author(s):  
Jin Tian ◽  
Liang Yuan ◽  
Wendong Xiao ◽  
Teng Ran ◽  
Li He
Keyword(s):  
Lower Limb ◽  
Control Method ◽  
Uniform Boundedness ◽  
Adaptive Robust Control ◽  
Structural Vibration ◽  
Control Approach ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Constraint Problem ◽  
Trajectory Following

The main objective of this article is to solve the trajectory following problem for lower limb exoskeleton robot by using a novel adaptive robust control method. The uncertainties are considered in lower limb exoskeleton robot system which include initial condition offset, joint resistance, structural vibration, and environmental interferences. They are time-varying and have unknown boundaries. We express the trajectory following problem as a servo constraint problem. In contrast to conventional control methods, Udwadia–Kalaba theory does not make any linearization or approximations. Udwadia–Kalaba theory is adopted to derive the closed-form constrained equation of motion and design the proposed control. We also put forward an adaptive law as a performance index whose type is leakage. The proposed control approach ensures the uniform boundedness and uniform ultimate boundedness of the lower limb exoskeleton robot which are demonstrated via the Lyapunov method. Finally, simulation results have shown the tracking effect of the approach presented in this article.

Adaptive Learning Inertia Control of Lower Limb Exoskeleton Robot.

2021 ◽  
Author(s):  
Muhammad Arsalan ◽  
Muhammad Tufail ◽  
SG Khan ◽  
Syed Humayoon Shah
Keyword(s):  
Adaptive Learning ◽  
Lower Limb ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Inertia Control

scholarly journals Design and simulation of PID controller for lower limb exoskeleton robot

2018 ◽  
Author(s):  
Munadi ◽  
M. S. Nasir ◽  
M. Ariyanto ◽  
Norman Iskandar ◽  
J. D. Setiawan
Keyword(s):  
Lower Limb ◽  
Pid Controller ◽  
Lower Limb Exoskeleton ◽  
Exoskeleton Robot
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