Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX)

Ghan, Justin; Steger, Ryan; Kazerooni, H.

doi:10.1163/156855306778394012

Cited by 113 publications

(58 citation statements)

References 12 publications

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“…HULC can also support a maximum load, with or without power. Lockheed Martin is also exploring exoskeleton designs for industrial use and a wider variety of military mission specific applications [15,16].…”

Section: B Human Universal Load Carrier (Hulc)mentioning

confidence: 99%

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Survey of On-line Control Strategies of Human-Powered Augmentation Exoskeleton Systems

Aia¹,

Cheng²,

X³

et al. 2016

Adv Robot Autom

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On-line gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent indoor and outdoor navigation. It is still a big challenge to develop a control strategy which makes the exoskeleton supply an efficient tracking for pilot intended trajectories on-line. Considering the number of degrees of freedom the lower limb exoskeletons are simpler to design, compared to upper limb. The comparison between lower limb and upper limb is useless when consider the control issues, because of the differences in missions and applications. Based on the literature, we aim to give an overview about control strategies of some famous lower limb human power exoskeleton systems. In the state of the art, different control strategies and approaches for different types of lower limb exoskeletons will be compared consider the efficiency and economic issues. Exact estimation of needed joints torques to execute human intended motions on-line with efficient performance, low cost and reliable way is the main goal of studied system's control strategies. We have study different control strategies used for wide known human power augmentation exoskeletons and compare between them in graphs and tables.

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Section: B Human Universal Load Carrier (Hulc)mentioning

confidence: 99%

“…During locomotion of the pilot, the interaction torque τ h is changed over the time based on the wearer intentions for gait transitions [15]. If we take α = 10, the torque exerted by human will changed to be minimum.…”

Section: ( )mentioning

confidence: 99%

Survey of On-line Control Strategies of Human-Powered Augmentation Exoskeleton Systems

Aia¹,

Cheng²,

X³

et al. 2016

Adv Robot Autom

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“…1,2 Obviously, it has numerous potential applications; for instance, it can help soldiers to walk or run with weights and it can provide accident rescue workers and other emergency personnel with the ability to carry heavy loads, such as rescue equipment, food and first-aid kit. 3,4 So exoskeletons have attracted great interests from many famous universities, military and the industry. The first energetically autonomous lower extremity exoskeleton (Berkeley lower extremity exoskeleton (BLEEX)) is designed to augment soldiers' capability of carrying a heavy backpack.…”

Section: Introductionmentioning

confidence: 99%

Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

Zhu

Jin

Yao

et al. 2016

International Journal of Advanced Robotic Systems

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This article presents a human-robot cooperation controller towards the lower extremity exoskeleton which aims to improve the tracking performance of the exoskeleton and reduce the human-robot interaction force. Radial basis function neural network is introduced to model the human-machine interaction which can better approximate the non-linear relationship than the general impedance model. A new method to calculate the inverse Jacobian matrix is presented. Compared to traditional damped least squares method, the novel method is proved to be able to avoid the orientation change of the velocity of the human-robot interaction point by the simulation result. This feature is very important in human-robot system. Then, an improved non-linear robust sliding mode controller is designed to promote the tracking performance considering system uncertainties and model errors, where a new non-linear integral sliding surface is given. The stability analysis of the proposed controller is performed using Lyapunov stability theory. Finally, the novel methods are applied to the swing leg control of the lower extremity exoskeleton, its effectiveness is validated by simulation and comparative experiments.

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“…The Berkeley Lower Extremity Exoskeleton (BLEEX) detects the walking intention including step initiation of the operator with toeoff events, when the toe leaves the ground, by using a foot switch installed in their shoes [15][16]. The BLEEX makes use of a number of sensors to operate itself, including encoders, linear accelerometers, force sensors, and an inclinometer [17].…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism

Cha¹,

Oh²,

Lee³

et al. 2015

Journal of Electrical Engineering and Technology

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-Assistance of the operator's walking ability while carrying a load is a challenging area in lower limb exoskeletons. We implement an exoskeleton called the Unmanned Technology Research Center Exoskeleton (UTRCEXO), which enables the operator to walk with a load more comfortably. The UTRCEXO makes use of two types of DC motor to assist the hip and knee joints. The UTRCEXO detects the operator's walking intention including step initiation with insole-type FSRs faster without using any bio-signals and precedes the operator's step with a reference torque. It not only reduces interaction forces between the operator and the UTRCEXO, but also allows the operator to walk with a load more comfortably. In this paper, we present the UTRCEXO implementing the walking assistance mechanism with interaction force reduction during walking.

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Control and system identification for the Berkeley lower extremity exoskeleton (BLEEX)

Cited by 113 publications

References 12 publications

Survey of On-line Control Strategies of Human-Powered Augmentation Exoskeleton Systems

Survey of On-line Control Strategies of Human-Powered Augmentation Exoskeleton Systems

Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation

Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism

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