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

doi:10.1109/SMC42975.2020.9283437

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

Department of Mechartronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
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	https://doi.org/10.1109/SMC42975.2020.9283437
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
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

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Hsu, S. H., Changcheng, C., Chen, C. T., Wu, Y. C., Lian, W. Y., Li, T. M., & Huang, C. E. (2020). Design and Evaluation of a Wearable Lower Limb Robotic Exoskeleton for Power Assistance. In 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 (Vol. 2020-October, pp. 2465-2470). [9283437] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC42975.2020.9283437

Design and Evaluation of a Wearable Lower Limb Robotic Exoskeleton for Power Assistance. / Hsu, Shi Heng; Changcheng, Chuan; Chen, Chun Ta; Wu, Yu Cheng; Lian, Wei Yuan; Li, Tse Min; Huang, Chen En.

2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020. Vol. 2020-October Institute of Electrical and Electronics Engineers Inc., 2020. p. 2465-2470 9283437.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hsu, SH, Changcheng, C, Chen, CT, Wu, YC, Lian, WY, Li, TM & Huang, CE 2020, Design and Evaluation of a Wearable Lower Limb Robotic Exoskeleton for Power Assistance. in 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020. vol. 2020-October, 9283437, Institute of Electrical and Electronics Engineers Inc., pp. 2465-2470, 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020, Toronto, Canada, 2020/10/11. https://doi.org/10.1109/SMC42975.2020.9283437

Hsu SH, Changcheng C, Chen CT, Wu YC, Lian WY, Li TM et al. Design and Evaluation of a Wearable Lower Limb Robotic Exoskeleton for Power Assistance. In 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020. Vol. 2020-October. Institute of Electrical and Electronics Engineers Inc. 2020. p. 2465-2470. 9283437 https://doi.org/10.1109/SMC42975.2020.9283437

Hsu, Shi Heng ; Changcheng, Chuan ; Chen, Chun Ta ; Wu, Yu Cheng ; Lian, Wei Yuan ; Li, Tse Min ; Huang, Chen En. / Design and Evaluation of a Wearable Lower Limb Robotic Exoskeleton for Power Assistance. 2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020. Vol. 2020-October Institute of Electrical and Electronics Engineers Inc., 2020. pp. 2465-2470

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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.",

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AU - Li, Tse Min

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N1 - Funding Information: ACKNOWLEDGEMENT This work was supported in part by the Ministry of Science and Technology of ROC, Taiwan under contracts No. MOST 108-2321-B-027-001 and MOST 108-2221-E-003 -024 -MY3. Publisher Copyright: © 2020 IEEE. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.

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N2 - 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.

AB - 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.

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

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Conference

Keywords

ASJC Scopus subject areas

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