An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices

Lora-Millán, Julio S.; Hidalgo, Andrés F.; Rocón, Eduardo

doi:10.1109/access.2021.3122160

Cited by 14 publications

(18 citation statements)

References 70 publications

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“…-постоянными (их находят из условий устойчивости); -функциями времени (находят из решения задач оптимального управления) [9,13].…”

Section: механика 207unclassified

“…-формирование скелетной схемы; -математическое моделирование движения экзоскелета [4-6]; -оптимизация движения звеньев на основе математической модели кинематики и динамики 1 ; -рациональное построение двигательной системы [7,8]; -разработка алгоритмов управления [9][10][11] и оценивания [13,14]. Все перечисленные задачи связывает проблема поиска управляющих воздействий для программного движения.…”

unclassified

“…Для получения информации о положении звеньев экзоскелетов их оснащают энкодером или гироскопом [9][10][11][12][13][14]. Другие возможные варианты: акселерометр, магнитометр, потенциометр, датчики момента, силы, биосигналов и др.…”

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“…В [13] на каждом звене экзоскелета предлагается использовать по одному блоку инерциальных датчиков, состоящих из гироскопов и акселерометров. Такое решение позволит оценивать углы поворота, угловые скорости и ускорения.…”

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Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Saypulaev

Merkuryev

et al. 2022

Vestnik Donskogo gosudarstvennogo tehničeskogo universiteta

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Introduction. The problem of controlling the lower-extremity powered exoskeleton motion was investigated. To solve it, it was proposed to use a program control and feedback control. The formation of control in the form of feedback required an assessment of the state of the exoskeleton (rotation angles, angular velocities, and accelerations of the links). The possibility of using an inertial measuring unit to estimate angular velocities and accelerations of exoskeleton links was considered. The work objective was to develop laws for the formation of the exoskeleton motion control, which could provide the stability of the program motion and use the measurements of encoders, micromechanical gyroscopes and accelerometers.Materials and Methods. Previously performed mathematical modeling of the exoskeleton dynamics was used to form a program control. It was proposed to equip the exoskeleton with inertial sensor units. This solution made it possible to evaluate the state vector of the exoskeleton and to use these estimates in a feedback loop. A mathematical model of measurements of these sensors was described. The proposed version is suitable for control systems of three-link exoskeletons of the lower extremities and can be expanded to the case of multi-link exoskeleton designs.Results. New laws of exoskeleton motion control based on a mathematical model of the system dynamics and using measurement information from encoders and inertial information sensors were proposed. Numerical simulation of exoskeleton motion was performed in the Wolfram Mathematica mathematical package. Its results confirmed the operability of the proposed control and the possibility of using an inertial sensor unit to assess the exoskeleton state. The numerical simulation results for the following program movements were presented: lifting the exoskeleton from a sitting position to a vertical position, and stabilization of the vertical equilibrium position.Discussion and Conclusions. The proposed control can be applied in exoskeletons for medical purposes, e.g., in the task of verticalization of patients with dysfunctions of the musculoskeletal system. The possibility of using measurement information obtained from inertial measurements units in the problem of estimating the state of exoskeleton links was demonstrated. The use of inertial sensors will make it possible to determine the angular acceleration of the exoskeleton links, avoiding numerical differentiation of the measurement information received from the encoders. The obtained estimates of angular acceleration allow us to introduce feedback on angular accelerations into the control system, which opens up the possibility of improving transients in controlling the exoskeleton motion.

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Section: механика 207unclassified

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Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Saypulaev

Merkuryev

et al. 2022

Vestnik Donskogo gosudarstvennogo tehničeskogo universiteta

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“…Two LPMS-URS2 IMUs (Inertial Measurement Units) have been used to estimate the orientation and angular speed of both shoulder and elbow in flexion-extension movements, as these devices represent a widely extended option for angular position measurement in exoskeletons [29], [30]. The IMUs have been calibrated to be set in the same reference frame.…”

Section: Motion Measurementmentioning

confidence: 99%

Robust Motion Control Architecture for an Upper-Limb Rehabilitation Exosuit

Pont-Esteban¹,

Sánchez-Urán²,

Ferré³

2022

IEEE Access

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Upper-limb exosuits are light wearable devices suitable for applications such as rehabilitation or assistance in industrial environments. One of the main drawbacks of these systems is the amount of uncertainties intrinsic to the nature of the device. Moreover, the direct interaction between the exosuit and its user adds disturbances to the system. Therefore, a robust control architecture to these phenomena is required for its appropriate control. In this article, a robust motion (position and speed) control architecture based on a cascade proportional-integral (PI) and a sliding mode controller (SMC), and a nonlinear disturbance observer (NDO) for the upper-limb cable-driven rehabilitation exosuit LUXBIT is designed. We call the proposed controller by the acronym CPISDO. The SMC nature allows to compensate the matched disturbances and uncertainties, while the NDO counteracts the unmatched ones. The PI component helps in reducing tracking error. Dynamic modelling, system architecture and control design are addressed. The CPISDO controller has been implemented over the exosuit and several experiments have been performed over 10 healthy subjects to evaluate the controller's tracking performance as well as the disturbance rejection. Supertwisting (a state-of-the-art SMC) and PI controllers have been implemented for CPISDO validation. Results are compared with other state-of-the-art solutions.INDEX TERMS Motion control, exoskeletons, control architectures, rehabilitation robotics, sliding-mode control.

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Design and performance evaluation method of wearable hip joint power-assisted exoskeleton

Wu,

Lv,

Chen

et al. 2025

Biomedical Signal Processing and Control

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An IMUs-Based Extended Kalman Filter to Estimate Gait Lower Limb Sagittal Kinematics for the Control of Wearable Robotic Devices

Cited by 14 publications

References 70 publications

Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Application of an Inertial Sensor Unit for Position Estimation and Motion Control of the Lower-Extremity Powered Exoskeleton

Robust Motion Control Architecture for an Upper-Limb Rehabilitation Exosuit

Design and performance evaluation method of wearable hip joint power-assisted exoskeleton

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