Stable Walking Feedback Control for a Self-Balanced Lower Limb Exoskeleton for Paraplegics

被引:1
|
作者
Li, Jinke [1 ,2 ,3 ]
Tian, Dingkui [1 ,3 ]
Sun, Jianquan [1 ,3 ]
Yin, Meng [1 ,3 ]
Wang, Zhuo [1 ,2 ,3 ]
Wu, Xinyu [1 ,2 ,3 ]
机构
[1] Chinese Acad Sci, Shenzhen Inst Adv Technol, Guangdong Prov Key Lab Robot & Intelligent Syst, Shenzhen 518055, Peoples R China
[2] Univ Chinese Acad Sci, Shenzhen Coll Adv Technol, Shenzhen 518055, Peoples R China
[3] SIAT CUHK Joint Lab Robot & Intelligent Syst, Shenzhen 518055, Peoples R China
基金
中国国家自然科学基金;
关键词
Exoskeleton; Self-Balance; walking stabilization; DESIGN; ROBOT;
D O I
10.1142/S0219843623500068
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Self-Balanced lower limb exoskeleton (SBLLE) is designed for rehabilitation and walking assistance for dyskinesia persons with spinal or lower limb muscle injury to regain the locomotion ability in daily activities. In this paper, an innovative feedback control strategy for a fully actuated SBLLE is presented, which helps users to walk stably without crutches or other assistive devices. Exoskeleton is approximated as a simplified center of mass (CoM) model. Based on this simplified dynamic model, the trajectory generation and walking feedback control strategy, which enhances the locomotion stability, is introduced. The proposed strategy is implemented on our exoskeleton, AutoLEE-II, and its stability and dynamic performance are demonstrated in the stable walking simulations and experiments for exoskeleton with a female subject.
引用
收藏
页数:18
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