Assistive Mobility Control of a Robotic Hip-Knee Exoskeleton for Gait Training

Chang Cheng Chuan, Yi Rong Li, Chun Ta Chen*


研究成果: 雜誌貢獻期刊論文同行評審

1 引文 斯高帕斯(Scopus)


In this paper, we present an assistive mobility control for a robotic hip-knee exoskeleton in-tended for gait training. The robotic hip-knee exoskeleton is designed with an active flexion/extension and a passive abduction/adduction at each hip joint and an active flexion/extension at each knee joint to comply with the movement of lower limbs. While facilitating walking with the robotic exoskeleton, model-free linear extended state observer (LESO)-based controllers are proposed for gait control, in which the LESO is used to deal with each user’s different lower limb parameters and unknown exerted torques. Walking and ascending experiments were conducted to evaluate the performance of the proposed methods, and the results are shown with respect to walking parameters. Moreover, a preliminary study for an extended application to the recovery of normal gaits that relieves the freezing of gait (FOG) in Parkinson’s disease (PD) patients is also investigated in the paper.

出版狀態已發佈 - 2022 7月 1

ASJC Scopus subject areas

  • 分析化學
  • 資訊系統
  • 生物化學
  • 原子與分子物理與光學
  • 儀器
  • 電氣與電子工程


深入研究「Assistive Mobility Control of a Robotic Hip-Knee Exoskeleton for Gait Training」主題。共同形成了獨特的指紋。