Abstract
The paper is concerned with control over a lower-limb exoskeleton device when it performs a sit-to-stand motion from a chair. A mathematical model describing full dynamics of the device is derived, and the strategies to facilitate the desired motion are outlined. A control system based on a modified Jacobian transpose is proposed, and its performance is evaluated in a series of numerical experiments. The simulations proved that the proposed control method can be successfully used to provide stable sit-to-stand motion from a chair.
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Work is performed with RSF, Project № 14-39-00008 “The establishment of the research laboratory of modern methods and robotic systems to improve the human environment”.
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Jatsun, S., Savin, S., Yatsun, A., Gaponov, I. (2017). Study on a Two-Staged Control of a Lower-Limb Exoskeleton Performing Standing-Up Motion from a Chair. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_10
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DOI: https://doi.org/10.1007/978-3-319-31293-4_10
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