Balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies

Huynh, Vaiyee; Bidard, C.; Chevallereau, Christine

doi:10.1109/humanoids.2016.7803319

Cited by 13 publications

(8 citation statements)

References 24 publications

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“…The paper [17] presents a balance control for a powered lower-limb exoskeleton based on the concept ICP and implement it on the exoskeleton named EMY-Balance (CEA-LIST). Joint torques for the specific actuation of EMY-Balance is computed to keep the ICP in support polygon.…”

Section: Literature Reviewmentioning

confidence: 99%

Dynamic Balance Gait for Walking Assistance Exoskeleton

Chen

Cheng

Yue

et al. 2018

Applied Bionics and Biomechanics

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Purpose Powered lower-limb exoskeleton has gained considerable interests, since it can help patients with spinal cord injury(SCI) to stand and walk again. Providing walking assistance with SCI patients, most exoskeletons are designed to follow predefined gait trajectories, which makes the patient walk unnaturally and feels uncomfortable. Furthermore, exoskeletons with predefined gait trajectories cannot always maintain balance walking especially when encountering disturbances. Design/Methodology/Approach This paper proposed a novel gait planning approach, which aims to provide reliable and balance gait during walking assistance. In this approach, we model the exoskeleton and patient together as a linear inverted pendulum (LIP) and obtain the patients intention through orbital energy diagram. To achieve dynamic gait planning of exoskeleton, the dynamic movement primitive (DMP) is utilized to model the gait trajectory. Meanwhile, the parameters of DMP are updated dynamically during one step, which aims to improve the ability of counteracting external disturbance. Findings The proposed approach is validated in a human-exoskeleton simulation platform, and the experimental results show the effectiveness and advantages of the proposed approach. Originality/Value We decomposed the issue of obtain dynamic balance gait into three parts: (1) based on the sensory information of exoskeleton, the intention estimator is designed to estimate the intention of taking a step; (2) at the beginning of each step, the discrete gait planner utilized the obtained gait parameters such as step length S and step duration T and generate the trajectory of swing foot based on (S, T); (3) during walking process, continuous gait regulator is utilized to adjust the gait generated by discrete gait planner to counteract disturbance.

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Section: Literature Reviewmentioning

confidence: 99%

Dynamic Balance Gait for Walking Assistance Exoskeleton

Chen

Cheng

Yue

et al. 2018

Applied Bionics and Biomechanics

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“…In terms of control, to improve balance of HES, human movement intentions are identified in real time to control the exoskeleton, for example, HAL measures EMG signals and ReWalk measures upper body inclination. Balance control based on capture point concept and human balance strategies (Huynh et al , 2016) and dynamic balance gait planning method (Chen et al , 2018) were studied. These control methods can help to enhance the balance of HES in the sagittal plane, but cannot overcome the lateral tilt problem caused by gravity, and still require a frame or a crutch to achieve balance in the frontal plane.…”

Section: Introductionmentioning

confidence: 99%

A rehabilitation gait for the balance of human and lower extremity exoskeleton system based on the transfer of gravity center

Wang

Yang²,

Yang

et al. 2019

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Purpose Most current lower extremity exoskeletons emphasize assistance for walking rather than stability. The purpose of this paper is to propose a rehabilitation gait based on the transfer of gravity center to improve the balance of exoskeleton rehabilitation training of the hemiplegic patients in the frontal plane, reducing the dependence on crutches/walking frames. Design/methodology/approach The real-time and predictable instability factors of human and exoskeleton system (HES) are analyzed. Inspired by the walking balance strategy of the blind, a rehabilitation gait based on the transfer of gravity center is proposed and studied by modeling and experimental test and is finally applied to the prototype – Zhejiang University lower extremity exoskeleton (ZJULEEX) – to verify its feasibility. Findings At least three real-time and predictable factors cause the instability of HES, and the factor of lateral tilt caused by gravity should be focused in the balance control of frontal plane. With the proposed gait, the hip height of stepping leg of HES does not reduce obviously even when the crutches do not work, which can improve the balance of HES. Research limitations/implications However, the rehabilitation gait control needs to be more complete and intelligent to response to other types of perturbations to further improve the balance of HES. In addition, more clinical trials should be conducted to evaluate the effect of the proposed gait. Social implications May bring happiness to the rehabilitation of patients with hemiplegia. Originality/value The rehabilitation gait based on the transfer of gravity center to improve the balance of HES is first proposed and applied to HES.

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“…Because balance assistance is another important part of walking assistance, in recent years, more and more researches have focused on the balance assistive control strategy for exoskeleton. Current researches on balance assistive control mainly focused on standing balance assistance (Rajasekaran et al, 2015;Huynh et al, 2017;Emmens et al, 2018;Ugurlu et al, 2016), lateral gait balance assistance (Wang et al, 2015;Zhang et al, 2018), slippage balance recovery (Monaco et al, 2017) and safe fall strategies (Khalili et al, 2017). A human usually takes ankle and hip strategy for standing balance recovery (Allum et al, 1993) and keeps biped gait stabilization via foot placement (Hof, 2008;Townsend, 1985).…”

Section: Introductionmentioning

confidence: 99%

A novel active balance assistive control strategy based on virtual stiffness model of XCoM

Wei

Qiu

Zha

et al. 2019

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Purpose This paper aims to propose a novel balance-assistive control strategy for hip exoskeleton robot. Design/methodology/approach A hierarchical balance assistive controller based on the virtual stiffness model of extrapolated center of mass (XCoM) is proposed and tested by exoskeleton balance assistive control experiments. Findings Experiment results show that the proposed controller can accelerate the swing foot chasing XCoM and enlarge the margin of stability. Originality/value As a proof of concept, this paper shows the potential for exoskeleton to actively assist human regain balance in sagittal plane when human suffers from a forward or backward disturbing force.

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Balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies

Cited by 13 publications

References 24 publications

Dynamic Balance Gait for Walking Assistance Exoskeleton

Dynamic Balance Gait for Walking Assistance Exoskeleton

A rehabilitation gait for the balance of human and lower extremity exoskeleton system based on the transfer of gravity center

A novel active balance assistive control strategy based on virtual stiffness model of XCoM

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