Lower Limbs Exoskeleton Control System Based on Intelligent Human-Machine Interface

Kagirov, Ildar; Karpov, Alexey; Kipyatkova, Irina; Klyuzhev, Konstantin; Kudryavcev, Alexander; Kudryavcev, Igor; Ryumin, Dmitry

doi:10.1007/978-3-030-32258-8_54

Cited by 4 publications

(5 citation statements)

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“…The main contribution of this article is to summarize and introduce the dominant control methods in lower limb exoskeleton control strategies: manual user input [11]- [13], surface electromyography [14], and brain-computer interface [17]. All three control strategies, however, have certain limitations, as discussed in the previous section.…”

Section: Discussionmentioning

confidence: 99%

“…Nowadays, there is no direct and effective method to perceive human intention. The most common methods are explicit and manual user input (MUI) because these kinds of input devices, such as voice commands [11] and buttons [12,13], are easy to implement. Besides, in 2006, Fleischer and his colleagues [14] applied the EMG techniques to the leg exoskeleton, which was proven experimentally effective.…”

Section: Categories Of High-level Controlmentioning

confidence: 99%

“…As mentioned above, MUI consists of devices such as buttons [12,13] and voice commands [11]. They are prone to implementation, have higher predictability, and have lower error risks.…”

Section: Manual User Inputmentioning

confidence: 99%

“…Additionally, Kagirov et al [11] designed a voice interface for the medical robotic exoskeleton "Remotion" based on the Android OS's open-source software, and its module is Java-based. Voice input can significantly improve the effectiveness of controlling the exoskeleton.…”

Section: Manual User Inputmentioning

confidence: 99%

“…ExoAtlet exoskeleton by Exoatlet Ltd. and ARKE exoskeleton by Bionic Laboratories Corp. have realized the application of voice input in their control. For "Remotion", voice commands currently available to the user are shown in Table 1 [11].…”

Section: Manual User Inputmentioning

confidence: 99%

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High-level control architecture of lower limb exoskeleton: A review

Zhou

2023

TNS

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As a rehabilitation robot for aiding in the movement of lower limbs, the lower limb exoskeleton is a beneficial device. In order to make the most effective use of the exoskeleton, the control strategy plays a crucial role. This review paper provides a background and classification of lower limb exoskeleton control strategies, such as model-based and hierarchy-based control. Further, we presented mainly the high-level control architecture of lower limb exoskeletons, which is aimed at detecting the intention of human movement. An in-depth discussion is provided in this paper regarding manual user input (MUI), surface electromyography (sEMG), and brain-computer interface (BCI). Many people need exoskeletons, which is why this review was written. Exoskeletons, however, are expensive and cannot be mass-produced, and their control methods are immature, making them ineffective. Thus, the objective of this review is to identify research gaps and common limitations in previous research to obtain future directions for improving the usability of the control mechanism. In an alternative approach, MUI and BCI are combined to reduce the time spent switching movement modes and the amount of concentration required to do so.

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Section: Discussionmentioning

confidence: 99%

Section: Categories Of High-level Controlmentioning

confidence: 99%

“…As mentioned above, MUI consists of devices such as buttons [12,13] and voice commands [11]. They are prone to implementation, have higher predictability, and have lower error risks.…”

Section: Manual User Inputmentioning

confidence: 99%

Section: Manual User Inputmentioning

confidence: 99%

Section: Manual User Inputmentioning

confidence: 99%

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