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

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
發行者Institute of Electrical and Electronics Engineers Inc.
頁面2465-2470
頁數6
2020-October
ISBN(電子)9781728185262
DOIs
出版狀態已發佈 - 2020 十月 11
事件2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020 - Toronto, 加拿大
持續時間: 2020 十月 112020 十月 14

會議

會議2020 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2020
國家/地區加拿大
城市Toronto
期間2020/10/112020/10/14

ASJC Scopus subject areas

  • 軟體
  • 控制與系統工程
  • 人機介面
  • 電腦科學應用
  • 電氣與電子工程

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