A Quasi-Passive Leg Exoskeleton for Load-Carrying Augmentation

Walsh, Conor J.; Endo, Ken; Herr, Hugh M.

doi:10.1142/s0219843607001126

Cited by 386 publications

(204 citation statements)

References 16 publications

Supporting

Mentioning

201

Contrasting

Unclassified

Order By: Relevance

“…Prominent exoskeleton developed under the DARPA project were that of Massachusetts Institute of Technology (MIT) [4], Berkley University's "Berkley Lower Extremity Exoskeleton (BLEEX)" [5] and Sarcos Research Corporation's "Wearable Energetically Autonomous Robot (WEAR)" [6]. All these exoskeletons had one common feature that human motion intent was measured from force sensor placed between the human operator and exoskeleton.…”

Section: Fig 1 Block Diagram Representation Of Systemmentioning

confidence: 99%

A Novel Algorithm to Predict Knee Angle From Emg Signals for Controlling a Lower Limb Exoskeleton

Dhindsa¹,

Agarwal²,

Ryait³

2016

Collection of Selected Papers of the II International Conference on Information Technology and Nanotechnology

View full text Add to dashboard Cite

Abstract. This paper presents an algorithm for estimation of the intended knee joint angle from sEMG signals acquired from four muscles of upper limb. The algorithm was evaluated by experiments showing the calculated intended motion while performing a simple daily life activity of sitting in a squat position and standing from a squat position. The proposed algorithm uses Mean Absolute Value (MAV) and Root Mean square (RMS) as features and a multi-layer Back Propagation Neural Network (BPN) for predicting the knee angle. Proposed algorithm along with the experimental results are presented. The predicted knee angle can be used to control a lower limb exoskeleton.Keywords: Back propagation, Exoskeleton, feature extraction, sEMG, Neural Network.Citation: Dhindsa IS, Agarwal R, Ryait HS. A novel algorithm to predict knee angle from EMG signals for controlling a lower limb exoskeleton. CEUR

show abstract

Section: Fig 1 Block Diagram Representation Of Systemmentioning

confidence: 99%

A Novel Algorithm to Predict Knee Angle From Emg Signals for Controlling a Lower Limb Exoskeleton

Dhindsa¹,

Agarwal²,

Ryait³

2016

Collection of Selected Papers of the II International Conference on Information Technology and Nanotechnology

View full text Add to dashboard Cite

show abstract

“…(variable damper)를 사용하여 보행 시 착용자의 신체적 부담 을 줄여주도록 고안되었다 [4,5]. 근력지원 효과검증을 위한 실험 결과 착용자는 등짐의 하중에 의한 신체적 부하가 크게 줄어들었지만 착용자는 외골격 로봇을 착용함에 따른 보행 장애를 극복하기 위해 추가적인 에너지를 사용하여야 했으 며, 그 결과 정상 보행 시 보다 10 %의 산소 소모량이 증가 하였다 [6].…”

Section: 담을 줄여주기 위한 하지 외골격 시스템을 개발하였다 이 시스템은 외골격의 관절에 구동기를 부착하는 대신 고unclassified

Technical Trend of the Lower Limb Exoskeleton System for the Performance Enhancement

Lee¹,

Han²

2014

Journal of Institute of Control, Robotics and Systems

View full text Add to dashboard Cite

Abstract:The purpose of this paper is to review recent developments in lower limb exoskeletons. The exoskeleton system is a human-robot cooperation system that enhances the performance of the wearer in various environments while the human operator is in charge of the position control, contextual perception, and motion signal generation through the robot's artificial intelligence. This system is in the form of a mechanical structure that is combined to the exterior of a human body to improve the muscular power of the wearer. This paper is followed by an overview of the development history of exoskeleton systems and their three main applications in military/industrial field, medical/rehabilitation field and social welfare field. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the exoskeleton mechanism, human-robot interface and human-robot cooperation control.

show abstract

“…ATLAS [3], ReWalk [4], and Ekso [5] are augmentation systems adopted to empower otherwise healthy people to perform the carrying of heavy loads. The BLEEX [6], Sarcos [7], and MIT [8] exoskeletons are mainly used to provide additional power to enable people suffering from muscular weakness (e.g., the elderly) to walk or climb stairs. Hybrid assistive limb (HAL) [9] and Honda's Stride Management Assist system (Honda, Tokyo, and Japan) are also helping people walk again.…”

Section: Introductionmentioning

confidence: 99%

A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability

Zhang

Wenliang

et al. 2018

Mathematical Problems in Engineering

View full text Add to dashboard Cite

A biologically inspired motion control method is introduced to ameliorate the flexibility and multijoint autonomy of assistive walking devices based on human-robot interactions (HRIs). A new HRI-based coordination control system consisting of a hip central pattern generator (CPG) control, a knee hierarchical impedance control, and a hip-knee linkage control is also investigated. Simulations and walking experiments are carried out which demonstrate that (i) the self-oscillation and external communication characteristics of the CPG are capable of realizing ideal master/slave hip joint trajectories. In addition, symmetrical inhibition in the CPG unit is essential for maintaining the antiphase motion of the left and right hip joints. (ii) High and low hierarchical impedance control laws allow appropriate knee joint torque to be calculated to maintain posture during the support and swing phases as walking proceeds. (iii) A hip-knee joint linkage mechanism which incorporates a hip joint CPG control and knee joint impedance control allows natural and relevant hip-knee trajectories to be realized. The stability of the HRI-based coordination control method is also confirmed using Lyapunov stability theory.

show abstract

A Quasi-Passive Leg Exoskeleton for Load-Carrying Augmentation

Cited by 386 publications

References 16 publications

A Novel Algorithm to Predict Knee Angle From Emg Signals for Controlling a Lower Limb Exoskeleton

A Novel Algorithm to Predict Knee Angle From Emg Signals for Controlling a Lower Limb Exoskeleton

Technical Trend of the Lower Limb Exoskeleton System for the Performance Enhancement

A Human-Robot Interaction Based Coordination Control Method for Assistive Walking Devices and an Assessment of Its Stability

Contact Info

Product

Resources

About