Control scheme and networked control architecture for the Berkeley lower extremity exoskeleton (BLEEX)

Steger, Ryan; Kim, Sung Hoon; Kazerooni, H.

doi:10.1109/robot.2006.1642232

Cited by 68 publications

(38 citation statements)

References 18 publications

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“…The Hardiman project was a large, full-body exoskeleton weighing 680 kg and controlled using a master-slave system. BLEEX (the Berkeley Lower Extremity Exoskeleton) (Kazerooni et al, 2005;Steger et al, 2006) project has developed an energetically autonomous exoskeleton capable of carrying its own weight plus an external payload. BLEEX has more than 40 sensors and hydraulic actuators, and helps lighten the load for soldier or worker.…”

Section: Related Work Of Wearable Power Assist Devicementioning

confidence: 99%

A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information

Feng

et al. 2006

2006 IEEE International Conference on Robotics and Biomimetics

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Section: Related Work Of Wearable Power Assist Devicementioning

confidence: 99%

A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information

Feng

et al. 2006

2006 IEEE International Conference on Robotics and Biomimetics

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“…Recently, the exoskeleton is increasingly used for powerassisting in industrial [1,2], medical [3][4][5], and military [6,7] areas. The human operator provides locomotion intention and a small muscle strength while the robot can help human complete the desired action with a suitable torque through replicating the operator's movements [2].…”

Section: Introductionmentioning

confidence: 99%

Command Filter Backstepping Sliding Model Control for Lower‐Limb Exoskeleton

Yang

Zhang

Wang

et al. 2017

Mathematical Problems in Engineering

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A command filter adaptive fuzzy backstepping control strategy is proposed for lower-limb assisting exoskeleton. Firstly, the humanrobot model is established by taking the human body as a passive part, and a coupling torque is introduced to describe the interaction between the exoskeleton and human leg. Then, Vicon motion capture system is employed to obtain the reference trajectory. For the purpose of obviating the "explosion of complexity" in conventional backstepping, a second-order command filter is introduced into the sliding mode control strategy. The fuzzy logic systems (FLSs) are also applied to handle with the chattering problem by estimating the uncertainties and disturbances. Furthermore, the stability of the closed-loop system is proved based on the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the control strategy.

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“…For lower limbs, these works not only concentrated on the therapeutic applications of the robotic devices, but also on the development of lower extremity exoskeletons for the augmentation of the load carrying capability and the endurance of the user [1]. However, for the upper limbs, most researchers have paid increasing attention to develop upper extremity exoskeletons for medical assistance and rehabilitation training [2]- [6].…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of an Upper Extremity Exoskeleton

et al. 2009

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Abstract-This paper presents the design and modeling results of an upper extremity exoskeleton mounted on a wheel chair. This new device is dedicated to regular and efficient rehabilitation training for weak and injured people without the continuous presence of a therapist. The exoskeleton being a wearable robotic device attached to the human arm, the user provides information signals to the controller in order to generate the appropriate control signals for different training strategies and paradigms. This upper extremity exoskeleton covers four basic degrees of freedom of the shoulder and the elbow joints with three additional adaptability degrees of freedom in order to match the arm anatomy of different users.

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Control scheme and networked control architecture for the Berkeley lower extremity exoskeleton (BLEEX)

Cited by 68 publications

References 18 publications

A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information

A PAWL for Enhancing Strength and Endurance during Walking Using Interaction Force and Dynamical Information

Command Filter Backstepping Sliding Model Control for Lower‐Limb Exoskeleton

Design and Modeling of an Upper Extremity Exoskeleton

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