Journal ArticleDOI
Design and locomotion control of a hydraulic lower extremity exoskeleton for mobility augmentation
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TLDR
In this article, a system design and three locomotion control algorithms are proposed for a hydraulic lower extremity exoskeleton to enhance mobility and reduce muscle fatigue caused by backpack loads.About:
This article is published in Mechatronics.The article was published on 2017-10-01. It has received 45 citations till now. The article focuses on the topics: Exoskeleton & Hydraulic machinery.read more
Citations
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Journal ArticleDOI
Time-delay estimation based computed torque control with robust adaptive RBF neural network compensator for a rehabilitation exoskeleton.
TL;DR: 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 compensator to realize more accurate tracking.
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DMP-Based Motion Generation for a Walking Exoskeleton Robot Using Reinforcement Learning
TL;DR: A novel trajectory-learning scheme based on reinforcement learning (RL) combined with DMPs is presented for a lower limb exoskeleton robot, aiming to give assistance to human walking and demonstrates that the proposed scheme can effectively suppress the disturbances and uncertainties.
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Recognition of walking environments and gait period by surface electromyography
TL;DR: The results suggest that the sEMG signal can be effectively used to control an exoskeleton robot.
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Locomotion Mode Identification and Gait Phase Estimation for Exoskeletons During Continuous Multilocomotion Tasks
TL;DR: A new structure of gait phase estimator, including a gait tasks classifier, an AO reset, a peak detector, and a model-based (MB) transition gaitphase estimator is designed to improve the performance of AOs network.
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Development of MMG sensors using PVDF piezoelectric electrospinning for lower limb rehabilitation exoskeleton
TL;DR: In this article, a fiber-based mechanomyography (MMG) sensor was developed and used as a motion on/off trigger sensor for a lower limb rehabilitation exoskeleton (LLRE).
References
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Book
Gait Analysis: Normal and Pathological Function
TL;DR: This text encompasses the work of Dr Jacquelin Perry in her years as a therapist and surgeon focusing on the human gait, suitable for incorporating into many athletic training programmes, university physical therapy programmes and gait workshops.
Journal ArticleDOI
Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art
Aaron M. Dollar,Hugh M. Herr +1 more
TL;DR: The history and state of the art of lower limb exoskeletons and active orthoses are reviewed and a design overview of hardware, actuation, sensory, and control systems for most of the devices that have been described in the literature are provided.
Journal ArticleDOI
Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation
Jan F. Veneman,Rik Kruidhof,Edsko E.G. Hekman,R. Ekkelenkamp,E.H.F. van Asseldonk,H. van der Kooij +5 more
TL;DR: Electromyography (EMG) measurements on eight important leg muscles, show that free walking in the device strongly resembles free treadmill walking; an indication that the device can offer task-specific gait training.
Journal ArticleDOI
Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
A.B. Zoss,H. Kazerooni,A. Chu +2 more
TL;DR: The Berkeley lower extremity exoskeleton (BLEEX) as mentioned in this paper has 7 DOF per leg, four of which are powered by linear hydraulic actuators, and the selection of the DOF, critical hardware design aspects and initial performance measurements of BLEEX are discussed.
Journal ArticleDOI
Control strategies for active lower extremity prosthetics and orthotics: a review
Michael R. Tucker,Jeremy Olivier,Anna Pagel,Hannes Bleuler,Mohamed Bouri,Olivier Lambercy,José del R. Millán,Robert Riener,Robert Riener,Heike Vallery,Heike Vallery,Roger Gassert +11 more
TL;DR: This work reviews the state-of-the-art techniques for controlling portable active lower limb prosthetic and orthotic P/O devices in the context of locomotive activities of daily living (ADL), and considers how these can be interfaced with the user’s sensory-motor control system.