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 language | English |
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Title of host publication | 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 2465-2470 |
Number of pages | 6 |
Volume | 2020-October |
ISBN (Electronic) | 9781728185262 |
DOIs | |
Publication status | Published - 2020 Oct 11 |
Event | 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, Canada Duration: 2020 Oct 11 → 2020 Oct 14 |
Conference
Conference | 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 |
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Country | Canada |
City | Toronto |
Period | 2020/10/11 → 2020/10/14 |
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