Skip to main content
SpringerLink
Log in
Book cover

Robot Intelligence Technology and Applications 4 pp 113–122Cite as

Study on a Two-Staged Control of a Lower-Limb Exoskeleton Performing Standing-Up Motion from a Chair

  • Conference paper
  • First Online:

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 447))

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.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., Hirukawa, H.: The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, 2001. Proceedings. 2001, vol. 1, pp. 239–246. IEEE (2001)

    Google Scholar 

  2. Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., Hirukawa, H.: Biped walking pattern generation by using preview control of zero-moment point. In: IEEE International Conference on Robotics and Automation, 2003. Proceedings. ICRA’03. vol. 2, pp. 1620–1626. IEEE (2003)

    Google Scholar 

  3. Harada, K., Kajita, S., Kanehiro, F., Fujiwara, K., Kaneko, K., Yokoi, K., Hirukawa, H.: Real-time planning of humanoid robot’s gait for force-controlled manipulation. IEEE/ASME Trans. Mechatron. 12(1), 53–62 (2007)

    Article  Google Scholar 

  4. Kajita, S., Morisawa, M., Miura, K., Nakaoka, S., Harada, K., Kaneko, K., Yokoi, K.: Biped walking stabilization based on linear inverted pendulum tracking. In: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4489–4496. IEEE (2010)

    Google Scholar 

  5. Huang, Q., Yokoi, K., Kajita, S., Kaneko, K., Arai, H., Koyachi, N., Tanie, K.: Planning walking patterns for a biped robot. IEEE Trans. Robot. Autom. 17(3), 280–289 (2001)

    Article  Google Scholar 

  6. Sellaouti, R., Stasse, O., Kajita, S., Yokoi, K., Kheddar, A.: Faster and smoother walking of humanoid HRP-2 with passive toe joints. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4909–4914. IEEE (2006)

    Google Scholar 

  7. Brock, O., Khatib, O.: Elastic strips: a framework for motion generation in human environments. Int. J. Robot. Res. 21(12), 1031–1052 (2002)

    Article  Google Scholar 

  8. Yoshida, E., Esteves, C., Sakaguchi, T., Laumond, J.P., Yokoi, K.: Smooth collision avoidance: Practical issues in dynamic humanoid motion. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 827–832. IEEE ((2006)

    Google Scholar 

  9. Verrelst, B., Stasse, O., Yokoi, K., Vanderborght, B.: Dynamically stepping over obstacles by the humanoid robot HRP-2. In: 2006 6th IEEE-RAS International Conference on Humanoid Robots, pp. 117–123. IEEE (2006)

    Google Scholar 

  10. Arisumi, H., Miossec, S., Chardonnet, J.R., Yokoi, K.: Dynamic lifting by whole body motion of humanoid robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 2008, pp. 668–675. IEEE (2008)

    Google Scholar 

  11. Tsukahara, A., Hasegawa, Y., Sankai, Y.: Standing-up motion support for paraplegic patient with Robot Suit HAL. In: IEEE International Conference on Rehabilitation Robotics. ICORR 2009, pp. 211–217. IEEE (2009)

    Google Scholar 

  12. Tsukahara, A., Kawanishi, R., Hasegawa, Y., Sankai, Y.: Sit-to-stand and stand-to-sit transfer support for complete paraplegic patients with robot suit HAL. Adv. Robot. 24(11), 1615–1638 (2010)

    Article  Google Scholar 

  13. Jun, H.G., Chang, Y.Y., Dan, B.J., Jo, B.R., Min, B.H., Yang, H., Kim, J.: Walking and sit-to-stand support system for elderly and disabled. In: 2011 IEEE International Conference on Rehabilitation Robotics (ICORR), pp. 1–5. IEEE (2011)

    Google Scholar 

  14. Taslim Reza, S.M., Ahmad, N., Choudhury, I.A., Ghazilla, R.A.R.: A fuzzy controller for lower limb exoskeletons during sit-to-stand and stand-to-sit movement using wearable sensors. Sensors 14(3), 4342–4363 (2014)

    Article  Google Scholar 

  15. Salah, O., Ramadan, A.A., Sessa, S., Ismail, A.A., Fujie, M., Takanishi, A.: Anfis-based sensor fusion system of sit-to-stand for elderly people assistive device protocols. Int. J. Autom. Comput. 10(5), 405–413 (2013)

    Article  Google Scholar 

  16. Mughal, A.M., Iqbal, K.: 3D bipedal model for biomechanical sit-to-stand movement with coupled torque optimization and experimental analysis. In: 2010 IEEE International Conference on Systems Man and Cybernetics (SMC), pp. 568–573. IEEE (2010)

    Google Scholar 

  17. López, A.M., Vaillant, J., Keith, F., Fraisse, P., Kheddar, A.: Compliant control of a humanoid robot helping a person stand up from a seated position. In: 2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 817–822. IEEE (201)

    Google Scholar 

  18. Jatsun, S., Savin, S., Yatsun, A., Malchikov, A.: Study of controlled motion of exoskeleton moving from sitting to standing position. In: 24th International Conference on Robotics in Alpe-Adria-Danube Region, vol. 201

    Google Scholar 

  19. Mitobe, Kazuhisa, Capi, Genci, Nasu, Yasuo: Control of walking robots based on manipulation of the zero moment point. Robotica 18(06), 651–657 (2000)

    Article  Google Scholar 

  20. Chi, Z., et al.: Biped walking with variable ZMP, frictional constraint, and inverted pendulum model. In: IEEE International Conference on Robotics and Biomimetics. ROBIO 2004. IEEE, 2004

    Google Scholar 

  21. Jatsun S., Savin S., Bezmen P.: Modelling of exoskeleton movement in verticalization process, New Developments in Pure and Applied Mathematics p. 83–87 (2015)

    Google Scholar 

  22. Jatsun, S.F., Yu, L., Vorochaeva, A., Yatsun, S., Savin, S.I.: The modeling of the standing-up process of the anthropomorphic mechanism. In: Proceedings of International Conference on Climbing and Walking Robots CLAWAR 2015 [in publishing], 2015

    Google Scholar 

  23. Sunada, C. et al.: A coordinated jacobian transpose control for mobile multi-limbed robotic systems. In: 1994 IEEE International Conference on Robotics and Automation. Proceedings. IEEE (1994)

    Google Scholar 

Download references

Acknowledgments

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”.

Author information

Authors and Affiliations

  1. Department of Mechanics, Mechatronics and Robotics, Southwest State University, 305040, Kursk, Russia

    Sergey Jatsun, Sergei Savin & Andrey Yatsun

  2. School of Mechanical Engineering, Korea University of Technology and Education, Cheonan, 31253, Republic of Korea

    Igor Gaponov

Authors
  1. Sergey Jatsun
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sergei Savin
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Andrey Yatsun
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Igor Gaponov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sergei Savin .

Editor information

Editors and Affiliations

  1. Electrical Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

  2. Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario, Canada

    Fakhri Karray

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Queensland, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science & Technology, Daejeon, Korea (Republic of)

    Hyun Myung

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing Switzerland

About this paper

Cite this paper

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

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-31293-4_10

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31291-0

  • Online ISBN: 978-3-319-31293-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation