Design and Evaluation of a Wearable Lower Limb Robotic Exoskeleton for Power Assistance

Shi Heng Hsu, Chuan Changcheng, Chun Ta Chen, Yu Cheng Wu, Wei Yuan Lian, Tse Min Li, Chen En Huang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Design, control and evaluation of a lower limb wearable robotic exoskeleton for power assistance are presented in the paper. The proposed four degree-of-freedom robotic exoskeleton, an active flexion/extension and a passive abduction/adduction rotation at each hip joint, is characterized with complying with the swinging motion of lower limbs as close as possible. To perform power assistance on walking, the linear extended state observer (LESO) based controllers were designed for the walking assistance. Finally, the experiments were conducted to validate the prototype of lower limb robotic exoskeleton. The associated evaluations for the walking assistance were also investigated using the motion captured system and EMG signal.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2465-2470
Number of pages6
Volume2020-October
ISBN (Electronic)9781728185262
DOIs
Publication statusPublished - 2020 Oct 11
Event2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada
Duration: 2020 Oct 112020 Oct 14

Conference

Conference2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
Country/TerritoryCanada
CityToronto
Period2020/10/112020/10/14

Keywords

  • linear extended state observer
  • lower limb
  • robotic exoskeleton
  • walking
  • Wearable

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering

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