Toward the Gait Analysis and Control of a Powered Lower Limb Orthosis in Ascending and Descending Stairs

“…The common aim of these studies was to compute, depending on the obstacle, the most appropriate exoskeleton reaction. For example, in [5]- [7] different methodologies have been developed in order to help people to climb staircases of known geometry.…”

Section: Introductionmentioning

confidence: 99%

A Real-Time 3D Reconstruction of Staircases for Rehabilitative Exoskeletons

Raineri

Monica

Bianco

2021

IEEE Trans. Med. Robot. Bionics

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“…The torque is generated by the sum of a constant assistive torque, a viscous torque and a gravity compensating torque. Huang et al [170] have designed a powered lower-limb orthosis for alleviating the problem of cartilage deterioration, thereby enabling elderly people to ascend and descend ladders. They developed a mode switch control strategy according to EMG-based gait mode identification.…”

Section: Control Strategymentioning

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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“…Several of research papers deals with stairs in singlefamily houses. They examines the problems related to medicine (impact on human movement apparatus) (Peng et al 2016) and aging (Huang et al 2014;Alcock et al 2015). In addition, the stairs is an area where the number of accidents is higher than one imagined.…”

Section: Introductionmentioning

confidence: 99%

A Novel Hybrid Multi-Criteria Decision-Making Model to Assess a Stairs Shape for Dwelling Houses

Turskis

Juodagalvienė

2016

Journal of Civil Engineering and Management

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The paper presents a novel approach to solve problem of stairs shape assessment for two-story individual dwelling houses. Selection among available shapes and construction of stairs is a multi-criteria decision-making problem in nature. It depends on a set of different conflicting criteria, that have different optimisation direction, different measurement units. There is determined the set of the main criteria to assess the alternatives is as follows: Stairwell Area, The Total Area of Climbing, “Climbing Lane” Area, The Cost of Stairs, and Ergonomics. A novel original hybrid MCDM (multi-criteria decision-making) model, which based on ten different multi-criteria decision-making methods: Game Theory, AHP, and SAW, Multiplicative Exponential Weighting, TOPSIS, and EDAS, ARAS, Full Multiplicative form, Laplace Rule, and Bayes Rule, is presented.

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Toward the Gait Analysis and Control of a Powered Lower Limb Orthosis in Ascending and Descending Stairs

Cited by 4 publications

References 9 publications

A Real-Time 3D Reconstruction of Staircases for Rehabilitative Exoskeletons

A Real-Time 3D Reconstruction of Staircases for Rehabilitative Exoskeletons

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

A Novel Hybrid Multi-Criteria Decision-Making Model to Assess a Stairs Shape for Dwelling Houses

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