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Biomechanics And Motor Control Of Human Movement

Design and development of lower limb exoskeletons: A survey

This paper presents a novel development of lower limb exoskeleton, which is named as CASWELL, and its repetitive learning control design for movement assistance CASWELL has five degrees of freedom per leg, two of which are driven by linear single-rod electrohydraulic actuators First, the mechanical structure and embedded electronic system are constructed, respectively Second, by incorporating the systems of rigid body and electrohydraulic actuators, the complete dynamics of CASWELL are analyzed and modeled Third, under the framework of backstepping design, a repetitive learning control scheme is presented to address the periodic tracking control of lower limbs of exoskeleton, where the learning convergence of the closed-loop system is proved rigorously in a Lyapunov way Finally, the proposed controller is implemented in the embedded electronic system via a 32-bit microcontroller, and tested on the developed CASWELL The experimental results are given to demonstrate the performance of the whole exoskeleton system

Development and Repetitive Learning Control of Lower Limb Exoskeleton Driven by Electrohydraulic Actuators

A new approach to gait rehabilitation task of a 12 DOF lower limb exoskeleton is proposed combining time-delay estimation (TDE) based computed torque control (CTC) and robust adaptive RBF neural networks. In addition to the conventional advantages of the CTC, TDE technique is integrated to estimate unmodeled dynamics and external disturbance. To realize more accurate tracking, a robust adaptive RBF neural networks compensator is designed to approximate and compensate TDE error. The final asymptotic stability is guaranteed with Lyapunov criteria. To validate the proposed approach, co-simulation experiments are realized using SolidWorks, SimMechanics and MATLAB/Robotics Toolbox. Compared to CTC, sliding mode based CTC and TDE based CTC, the higher performances of the proposed controller are demonstrated by co-simulation.

Time-delay estimation based computed torque control with robust adaptive RBF neural network compensator for a rehabilitation exoskeleton.

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 measurement unit (iIMU). The iIMU is designed as a gait monitor to independently accomplish data sampling, data processing, and wireless transmission. It also has good portability that can be easily attached on the surface of a shoe. Moreover, an online detection algorithm is proposed to detect the gait events by local search windows and fixed thresholds, resulting in a minimal time delay and small computational burden. The accuracy and detection rate of the iIMU are experimentally verified by 10 healthy subjects walking on a force plate and treadmill. The mean time errors of heel-strike and toe-off detection are −10 and 19 ms when compared to the force plate. Gait events of a total 478 steps, collected from a treadmill with various walking speeds, are all detected. When applied to a lower extremity exoskeleton robot, the iIMU successfully detects the gait events of the human–robot synchronous walk.

Gait Event Detection of a Lower Extremity Exoskeleton Robot by an Intelligent IMU

Design and locomotion control of a hydraulic lower extremity exoskeleton for mobility augmentation

This article presents a kinematic-based method for locomotion mode recognition, for use in the control of an exoskeleton for power augmentation, to implement natural and smooth locomotion transitio...

https://journals.sagepub.com/doi/pdf/10.1177/1729881417730321

Kinematic-based locomotion mode recognition for power augmentation exoskeleton:

Soldiers often should carry heavy loads on their back for a long time during military operations. To this end, exoskeleton robots have been developed to enhance mobility and reduce the muscle fatigue caused by heavy loads. This paper presents a locomotion control strategy for a hydraulic lower extremity exoskeleton robot developed for military purposes. The robot utilized the dual-mode control scheme, which is comprised of the active control for the stance phase and the passive control for the swing phase, to achieve high walking speed in the swing phase while supporting heavy loads in the stance phase. To reduce the sudden change of the torque command at the transition from the swing phase to the stance phase, a smoothing method is adopted. We also implemented a pre-transition method to take a foot off quickly for fast walking by predicting the change from the swing to the stance in advance. The experiment results show that a wearer can walk at a speed of up to 4 km=h on a treadmill with a 45 kg backpack load.

Locomotion control strategy of hydraulic lower extremity exoskeleton robot

Development of a mobile robot controlled by three motors for a hostile environment

This paper presents a lower-limb exoskeleton testbed and its control method. An exoskeleton is a wearable robotic system that can enhance wearer's muscle power or assist human's movements. Among a variety of its applications, especially for military purpose, a wearable robot can be very useful for carrying heavy loads during locomotion by augmenting soldiers' mobility and endurance. The locomotion test on a treadmill was performed up to maximum 4km/h walking speed wearing the lower-limb exoskeleton testbed with a 45kg backpack load.

Hongchul Kim

Papers

Design and locomotion control of a hydraulic lower extremity exoskeleton for mobility augmentation

Kinematic-based locomotion mode recognition for power augmentation exoskeleton:

Locomotion control strategy of hydraulic lower extremity exoskeleton robot

Development of a mobile robot controlled by three motors for a hostile environment

Lower-limb Exoskeleton Testbed for Level Walking with Backpack Load