Design and Control of a Powered Hip Exoskeleton for Walking Assistance

Wu, Qing; Wang, Xingsong; Du, Fengpo; Zhang, Xiaobo

doi:10.5772/59757

Cited by 89 publications

(49 citation statements)

References 25 publications

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“…Our template based approach avoids the model complexity which is a common drawback of such approaches [12]. It is the first implementation of such a novel method on a single (hip) joint actuated exoskeleton demonstrated beneficial outcomes regarding reducing metabolic costs and muscle activities compared to similar studies (only with hip joint assistance) on exoskeletons [35], [36], [58] or exosuits [56], [59].…”

Section: Fmch Based Controller Has Higher Consistency In Emg Respomentioning

confidence: 96%

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Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking

Zhao

Sharbafi

Vlutters

et al. 2019

IEEE Trans. Neural Syst. Rehabil. Eng.

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The amount of research on developing exoskeletons for human gait assistance has been growing in the recent years. However, the control design of exoskeletons for assisting human walking remains unclear. This paper presents a novel bio-inspired reflex-based control for assisting human walking. In this approach, the leg force is used as a feedback signal to adjust hip compliance. The effects of modulating hip compliance on walking gait is investigated through joint kinematics, leg muscle activations and overall metabolic costs for eight healthy young subjects. Reduction in the average metabolic cost and muscle activation are achieved with fixed hip compliance. Compared to the fixed hip compliance, improved assistance as reflected in more consistent reduction in muscle activities and more natural kinematic behaviour are obtained using the leg force feedback. Furthermore, smoother motor torques and less peak power are two additional advantages obtained by compliance modulation. The results show that the proposed control method which is inspired by human posture control can not only facilitate the human gait, but also reduce the exoskeleton power consumption. This demonstrates that the proposed bio-inspired controller allows a synergistic interaction between human and robot. Index Terms-Virtual pivot point, force modulated compliant hip, exoskeleton, bio-inspired control, human gait, assistive device.

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Section: Fmch Based Controller Has Higher Consistency In Emg Respomentioning

confidence: 96%

“…E.g. BLEEX adopts a force controller in swing phase and a position controller in stance phase [34]; or combination of fuzzy control with other methods [35]- [39]. None of these methods take the basic control principles of human locomotion as the basis for the control of exoskeletons.…”

mentioning

confidence: 99%

Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking

Zhao

Sharbafi

Vlutters

et al. 2019

IEEE Trans. Neural Syst. Rehabil. Eng.

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“…Instead, a simple PID controller is used for the velocity. Wu et al [69] have adopted two control methods for the powered hip exoskeleton PH-EXOS to assist pilots with walking impediments. The first is a cascaded PID controller for reference trajectory tracking.…”

Section: Interaction Force-based Velocity Assistancementioning

confidence: 99%

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. None, however, have focused on the coordination of control between humans and these kinds of robots. In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art. One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects. These categories were further subdivided according to their perspective on human-exoskeleton robots coordinated control. The paper extensively reviews various control methods we uncovered and how they are coordinated between wearer and exoskeleton robot.

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“…The shoulder joint and the elbow joint of exoskeleton system are actuated by AC servo motors (YASKAWA-SGMAV 04AA41, reduction ratio-40:1) via Bowden-cable transmission system. The detail description of the Bowden-cable actuation has been proposed in our previous research [20][21]. The wrist joint is directly driven by two high precision brushless DC motor (ASLONG-JGA25).…”

Section: A Mechanical Designmentioning

confidence: 99%

Fuzzy sliding mode control of an upper limb exoskeleton for robot-assisted rehabilitation

Wang

et al. 2015

2015 IEEE International Symposium on Medical Measurements and Applications (MeMeA) Proceedings

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Robot-assisted therapy has become an important technology used to restore and reinforce the motor functions of the patients with neuromuscular disorders. In this paper, we proposed an upper-limb exoskeleton intended to assist the rehabilitation training of shoulder, elbow and wrist. The proposed therapeutic exoskeleton has an anthropomorphic structure able to match the upper-limb anatomy and enable natural human-robot interaction. A modified sliding mode control (SMC) strategy consisting of a proportional-integralderivative (PID) sliding surface and a fuzzy hitting control law is developed to guarantee robust tracking performance and reduce the chattering effect. The Lyapunov theorem is utilized to demonstrate the system stability. In order to evaluate the effectiveness of proposed algorithm, several trajectory tracking experiments were conducted based on a real-time control system. Experimental results are presented to prove that, when compared to the conventional PID controller, the fuzzy SMC strategy can effectively reduce the tracking errors and achieve favorable control performance.This full text paper was peer-reviewed at the direction of IEEE Instrumentation and Measurement Society prior to the acceptance and publication.978-1-4799-6477-2/15/$31.00 ©2015 IEEE

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Design and Control of a Powered Hip Exoskeleton for Walking Assistance

Cited by 89 publications

References 25 publications

Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking

Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Fuzzy sliding mode control of an upper limb exoskeleton for robot-assisted rehabilitation

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