Motion control of bicycle-riding exoskeleton robot with interactive force analysis

Heo, Geun Sub; Lee, Sang-Ryong; Kwak, Moon Kyu; Park, Cheol Woo; Kim, Gyu Man; Lee, Choon-Young

doi:10.1007/s12541-015-0214-y

Cited by 8 publications

(2 citation statements)

References 12 publications

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“…C-ALEX is a cable driven exoskeleton that has a low-level cable tension controller to implement the FFC control. Heo et al [17] have employed an impedance controller that imposes a safety margin on the tracking errors generated by a bicycle-riding assistive exoskeleton robot. The impedance controller modifies the impedance properties according to the measured interaction forces.…”

Section: The Position Controllermentioning

confidence: 99%

“…Index of articles Gait trajectory based [14], [15], [16], [17], [18]- [20], [21], [22], [23], [24], [25], [26], position assistance [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43]- [45], [46], [47], [48], [49], [50], [51], [52], [53], [54], [55], [56], [57], [58] Posture estimation based [59], [60], [61], [62], [63], [64], [65] position assistance I...…”

Section: Control Strategymentioning

confidence: 99%

See 1 more Smart Citation

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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Section: The Position Controllermentioning

confidence: 99%