Design of a lower limb exoskeleton for experimental research on gait control

Souit, Camila; Coelho, Dafne Santana; Szylit, Marcelo; Camargo-Junior, Franklin; Junior, Milton Peres Cortez; Forner-Cordero, Arturo

doi:10.1109/biorob.2016.7523778

Cited by 9 publications

(10 citation statements)

References 25 publications

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“…For the purpose of robustness, the bounded controller is tested using the system parameters for a lowerlimb orthosis described in [39,40]. These system parameters are given in Table 2, the values of which are calculated using 1.5 m of the human limb length and a weight of 65 kg.…”

Section: Casementioning

confidence: 99%

Bounded Control of an Actuated Lower-Limb Exoskeleton

Ajayi

Djouani

Hamam

2017

Journal of Robotics

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A bounded control strategy is employed for the rehabilitation and assistance of a patient with lower-limb disorder. Complete and partial lower-limb motor function disorders are considered. This application is centered on the knee and the ankle joint level, thereby considering a user in a sitting position. A high gain observer is used in the estimation of the angular position and angular velocities which is then applied to the estimation of the joint torques. The level of human contribution is feedback of a fraction of the estimated joint torque. This is utilised in order to meet the demands for a bounded human torque; that is, ℎ ≤ 2, ≤ 1, . The asymptotic stability of the bounded control law without human contribution and the convergence analysis of the high gain observer is verified using Lyapunov-based analysis. Simulations are performed to verify the proposed control law. Results obtained guarantee a fair trajectory tracking of the physiotherapist trajectory.

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Section: Casementioning

confidence: 99%

Bounded Control of an Actuated Lower-Limb Exoskeleton

Ajayi

Djouani

Hamam

2017

Journal of Robotics

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“…Presented in (SOUIT et al, 2016), this lower-limb exoskeleton prototype has a lot in common with the Exo-OCP: Maxon Motor EC90, EPOS2 24/5 driver and 100:1 harmonic reduction. The contact torque, however, is provided by the same solution as the Exo-C, a load cell.…”

Section: Exo-loli Prototypementioning

confidence: 99%

“…Being so, this last prototype is the one further described in the following Figure 2.5 -ExoLoLi with different joint configurations: to the left shows the use of a passive knee joint, in the centre, the assembly designed for full assistance, with knees and ankle joints actuated, to the right, only the knee is actuated. Adapted from (SOUIT, 2016) chapters with which the admittance control was implemented. The ExoLoLi prototype was also developed with a modularity approach as shown in Figure 2.5.…”

Section: Exo-loli Prototypementioning

confidence: 99%

“…As mentioned before, the actual ModExo system uses the joint solution from the ExoLoLi prototype presented in (SOUIT et al, 2016).…”

Section: Mechanical Hardwarementioning

confidence: 99%

“…Further described in (SOUIT, 2016), the load cell is a transducer that creates electrical signal from force input. It has strain gauges, assembled in full Wheatstone bridge as seen in 5.1 and is designed to elastically deform, to optimize the strain gauge sensitivity, when force is applied.…”

Section: Mechanical Hardwarementioning

confidence: 99%

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