A generalized control framework of assistive controllers for lower limb exoskeletons

Abstract

A number of control methodologies have been studied for assistive robotic technologies. Since the human motions in a daily life consist of multiple phases, such as walking, sitting and standing, controllers for assistive robots are required to be able to cope with different motion phases. For this reason, hybrid control which is able to occasionally switch control algorithms according to the motion phases has been preferred in the assistive robots, in particular wearable robots. In this paper, a generalized control framework is proposed as a fundamental framework for the hybrid assistive control and its stability is analyzed using the framework. The proposed control framework is implemented into a lower-limb exoskeleton robot and its effectiveness is verified thorough experiments.

Design and development of the sEMG-based exoskeleton strength enhancer for the legs

“…Military categorised exoskeletons are more generalised to the entire human body (for example, Raytheon XOS clothing), unlike the medically categorised exoskeletons that are specific to certain key elements of the human body that focuses on say for example only the ankle and not the whole of the human body [30]. The Raytheon Sarcos's XOS2 robotic suit is roughly 50 % more energy efficient than the XOS1 and weighs around 95 kg.…”