Intuitive Gait Pattern Generation for an Exoskeleton Robot
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Precision Engineering and Manufacturing"
DOI: 10.1007/s12541-019-00184-z
Abstract: Exoskeleton robots are being studied and developed in various forms according to user. Among them, the most concentrated area is the lower limb exoskeleton robot for “walking,” which is the basic exercise of paralyzed patients.… read more here.
Keywords: gait pattern; exoskeleton robot; exoskeleton; gait ... See more keywords
Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics
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DOI: 10.1016/j.ejcon.2018.03.002
Abstract: Abstract In this paper, we propose a new adaptive visual tracking control approach based on sliding mode control in Cartesian space applied to an exoskeleton robot with uncertain kinematics and dynamics, taking into account uncertainties… read more here.
Keywords: exoskeleton robot; adaptive control; control; kinematics ... See more keywords
Control of flexible knee joint exoskeleton robot based on dynamic model
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DOI: 10.1017/s0263574722000029
Abstract: The knee joint plays a significant role in ground clearness, which is a crucial subtask of normal walking and avoiding falls. While post-stroke survivors are often faced with muscle weakness during walking, which leads to… read more here.
Keywords: knee; exoskeleton robot; knee joint; knee flexion ... See more keywords
A dual-drive four joint time-sharing control walking power-assisted flexible exoskeleton robot system
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DOI: 10.1017/s0263574722000704
Abstract: Abstract Exoskeleton robot can assist people and reduce energy consumption when they walk with heavy weight, so as to protect their health and travel longer distances. This work analyzes the cross gait during walking and… read more here.
Keywords: system; drive four; control; exoskeleton robot ... See more keywords
Gait multi-objectives optimization of lower limb exoskeleton robot based on BSO-EOLLFF algorithm
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DOI: 10.1017/s0263574722001199
Abstract: Abstract Aiming at problems of low optimization accuracy and slow convergence speed in the gait optimization algorithm of lower limb exoskeleton robot, a novel gait multi-objectives optimization strategy based on beetle swarm optimization (BSO)-elite opposition-based… read more here.
Keywords: objectives optimization; multi objectives; robot; exoskeleton robot ... See more keywords
Gait Event Detection of a Lower Extremity Exoskeleton Robot by an Intelligent IMU
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DOI: 10.1109/jsen.2018.2871328
Abstract: To control an exoskeleton robot, gait event (phase) of the robot needs to be identified. This paper presents a novel gait event detection method for a lower extremity exoskeleton robot based on an intelligent inertial… read more here.
Keywords: exoskeleton robot; lower extremity; detection; gait event ... See more keywords
A Learning-Based Hierarchical Control Scheme for an Exoskeleton Robot in Human–Robot Cooperative Manipulation
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Cybernetics"
DOI: 10.1109/tcyb.2018.2864784
Abstract: Exoskeleton robots can assist humans to perform activities of daily living with little effort. In this paper, a hierarchical control scheme is presented which enables an exoskeleton robot to achieve cooperative manipulation with humans. The… read more here.
Keywords: control scheme; cooperative manipulation; robot; exoskeleton robot ... See more keywords
Active Human-Following Control of an Exoskeleton Robot With Body Weight Support.
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on cybernetics"
DOI: 10.1109/tcyb.2023.3253181
Abstract: This article presents an active human-following control of the lower limb exoskeleton for gait training. First, to improve safety, considering the human balance, the OpenPose-based visual feedback is used to estimate the individual's pose, then,… read more here.
Keywords: active human; following control; control; human following ... See more keywords
Adaptive Neural Control of a Kinematically Redundant Exoskeleton Robot Using Brain–Machine Interfaces
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Neural Networks and Learning Systems"
DOI: 10.1109/tnnls.2018.2872595
Abstract: In this paper, a closed-loop control has been developed for the exoskeleton robot system based on brain–machine interface (BMI). Adaptive controllers in joint space, a redundancy resolution method at the velocity level, and commands that… read more here.
Keywords: brain machine; control; robot; exoskeleton robot ... See more keywords
Selection and implementation of optimal magnetorheological brake design for a variable impedance exoskeleton robot joint
Sign Up to like & getrecommendations! Published in 2017 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/0954406215627180
Abstract: Next-generation exoskeleton and humanoid robots are expected to behave similar to the human neuro-muscular system to perform stable, flexible, and biomimetic movements. To achieve this goal, the variable stiffness actuators have been widely used in… read more here.
Keywords: exoskeleton robot; brake design; design;
Implementation of an Upper-Limb Exoskeleton Robot Driven by Pneumatic Muscle Actuators for Rehabilitation
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DOI: 10.3390/act9040106
Abstract: Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at… read more here.
Keywords: upper limb; exoskeleton robot; exoskeleton; limb exoskeleton ... See more keywords