Generalized elasticities improve patient-cooperative control of rehabilitation robots

Vallery, Heike; Duschau-Wicke, Alexander; Riener, Robert

doi:10.1109/icorr.2009.5209595

Cited by 66 publications

(39 citation statements)

References 27 publications

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“…Current work aims at better parameterizations, for example using Compactly Supported Radial Basis Functions to parameterize the potential instead of the force field, and at a unification of the transparency enhancement with other functionalities like support and guidance of the human [28].…”

Section: Discussionmentioning

confidence: 99%

Optimized passive dynamics improve transparency of haptic devices

Duschau-Wicke¹,

Riener²

2009

2009 IEEE International Conference on Robotics and Automation

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Section: Discussionmentioning

confidence: 99%

Optimized passive dynamics improve transparency of haptic devices

Duschau-Wicke¹,

Riener²

2009

2009 IEEE International Conference on Robotics and Automation

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“…The idea of shaping the dynamics of the exoskeleton has been applied before in the "subject comfort" control of the HAL exoskeleton [22], and in the generalized elasticities method proposed by Vallery [23]. However, in those methods the exoskeleton's impedance is passive, therefore no net transfer of energy to the user's limbs will occur unless a layer of active control is added.…”

Section: Discussionmentioning

confidence: 99%

Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments

Aguirre-Ollinger

Colgate

Peshkin

et al. 2012

IEEE Trans. Neural Syst. Rehabil. Eng.

119

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Abstract-A new method of lower-limb exoskeleton control aimed at improving the agility of leg-swing motion is presented. In the absence of control, an exoskeleton's mechanism usually hinders agility by adding mechanical impedance to the legs. The uncompensated inertia of the exoskeleton will reduce the natural frequency of leg swing, probably leading to lower step frequency during walking as well as increased metabolic energy consumption. The proposed controller emulates inertia compensation by adding a feedback loop consisting of low-pass filtered angular acceleration multiplied by a negative gain. This gain simulates negative inertia in the low-frequency range. The resulting controller combines two assistive effects: increasing the natural frequency of the lower limbs and performing net work per swing cycle. The controller was tested on a statically mounted exoskeleton that assists knee flexion and extension. Subjects performed movement sequences, first unassisted and then using the exoskeleton, in the context of a computer-based task resembling a race. In the exoskeleton's baseline state, the frequency of leg swing and the mean angular velocity were consistently reduced. The addition of inertia compensation enabled subjects to recover their normal frequency and increase their selected angular velocity. The work performed by the exoskeleton was evidenced by catch trials in the protocol.

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“…However, such models are not yet able to satisfactorily describe a wide range of human tasks and often create only conservative results. To improve such models optimal and learning control algorithms can be used [11].…”

Section: State Of the Art Reviewmentioning

confidence: 99%

Acceleration-based transparency control framework for wearable robots

Boaventura

Buchli

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-To render a wearable robot imperceptible to a user is a very challenging control task. The constant and intrinsic interaction between robot and human, and persondependent behaviours are the main difficulties when designing such cooperative control. In this contribution we introduce and discuss a novel and promising transparency control framework. The foundation of the framework is to measure the acceleration of the human limbs and to exploit this measurement to generate feedforward control commands by using a rigid body model of the robot. The framework includes also an acceleration feedback controller and a state estimator to enhance the overall performance. We present a simplified stability analysis with different feedback controllers and preliminary experimental data that demonstrate the potential of the proposed method in reducing interaction forces and mimicking human motions.

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Generalized elasticities improve patient-cooperative control of rehabilitation robots

Cited by 66 publications

References 27 publications

Optimized passive dynamics improve transparency of haptic devices

Optimized passive dynamics improve transparency of haptic devices

Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments

Acceleration-based transparency control framework for wearable robots

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