Sekar Anup Chander
ABSTRACT
In order to achieve the desired control of a lower limb exoskeleton, an understanding of the dynamics of the coupled human-exoskeleton system is required. A major input towards modelling the dynamics of the coupled system is the ground reaction force (GRF) generated by the human wearing the exoskeleton. Therefore, the GRF from the coupled system needs to be either computed, measured or estimated. This paper presents work on the estimation of GRF and subsequently on the control of a lower-limb exoskeleton. The approach to estimating GRF is based on the multiple variable regression technique, which considers the body weight, height and walking speed of the exoskeleton user. A mathematical model based on the Euler-Lagrange formulation was used to model the complete system. Once the dynamic model is ready, strength augmentation for the purpose of load-carrying exoskeletons is set as a desired control objective, and further computed torque control is tested on the coupled system. In summary, this paper tries to achieve three goals: estimation of GRF, dynamic modelling of the coupled human-exoskeleton system and formulation of a control framework from the modelled dynamics for testing computed-torque control.
- Jiejunyi, L., , A review of the design of load-carrying exoskeletons. Science China-Technological Sciences, 2022.Google Scholar
- Zhang, T. and D.J. Braun, Theory of fast walking with human-driven load-carrying robot exoskeletons. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2022. 30: p. 1971-1981.Google Scholar
- Cenciarini, M. and A.M. Dollar. Biomechanical considerations in the design of lower limb exoskeletons. in 2011 IEEE International conference on rehabilitation robotics. 2011. IEEE.Google ScholarCross Ref
- Rupal, B.S., , Lower-limb exoskeletons: Research trends and regulatory guidelines in medical and non-medical applications. International Journal of Advanced Robotic Systems, 2017. 14(6): p. 1729881417743554.Google Scholar
- Huo, W., Active impedance control of a lower limb exoskeleton to assist sit-to-stand movement. in 2016 IEEE international conference on robotics and automation (ICRA). 2016. Ieee.Google Scholar
- Zhu, S., , Non-linear sliding mode control of the lower extremity exoskeleton based on human–robot cooperation. International Journal of Advanced Robotic Systems, 2016. 13(5): p. 1729881416662788.Google ScholarCross Ref
- Yang, Z., , Mechatronic model based computed torque control of a parallel manipulator. International journal of advanced robotic systems, 2008. 5(1): p. 14.Google ScholarCross Ref
- Pérez-San Lázaro, R., I. Salgado, and I. Chairez, Adaptive sliding-mode controller of a lower limb mobile exoskeleton for active rehabilitation. ISA transactions, 2021. 109: p. 218-228.Google Scholar
- Wei, F., A. Crechiolo, and R.C. Haut, Prediction of ground reaction forces in level and incline/decline walking from a multistage analysis of plantar pressure data. Journal of Biomechanics, 2019. 84: p. 46-51.Google Scholar
- Dehkordi, P.S., , The design, development, and deployment of robo parrot for screening autistic children. International Journal of Social Robotics, 2015. 7: p. 513-522.Google Scholar
- Baud, R., , Review of control strategies for lower-limb exoskeletons to assist gait. Journal of Neuro Engineering and Rehabilitation, 2021. 18(1): p. 1-34.Google Scholar
- Lencioni, T., , Human kinematic, kinetic and EMG data during different walking and stair ascending and descending tasks. Scientific data, 2019. 6(1): p. 309.Google Scholar
Index Terms
- Estimation of Ground Reaction Force for Coupled Dynamic Modelling and Control of the Lower Limb Exoskeleton
Recommendations
Bayesian Analysis of Sub-plantar Ground Reaction Force with BSN
BSN '09: Proceedings of the 2009 Sixth International Workshop on Wearable and Implantable Body Sensor NetworksThe assessment of Ground Reaction Forces (GRF) is important for gait analysis for sports, pathological gaits and rehabilitation. To capture GRF, force plates and foot pressure insoles are commonly used. Due to cost and portability issues, such systems ...
Ground reaction force (GRF) measurement of normal and above knee amputee based on the gait speed
BioMed'06: Proceedings of the 24th IASTED international conference on Biomedical engineeringThis study was performed to show a difference of gait between normal and above knee amputees on the change of gait speed. In the experiment, 37 normal male volunteers, 4 male AK amputees tested SNS(integrated control) and NABUCO (integrated control) ...
Modeling and control of a 7DOF exoskeleton robot for arm movements
ROBIO'09: Proceedings of the 2009 international conference on Robotics and biomimeticsTo assist a large number of physically disabled people who no longer are in full possession of their body motion, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion since movement of shoulder, elbow, and ...
Comments