NDLI: Locomotion control strategy of hydraulic lower extremity exoskeleton robot

Content Provider	IEEE Xplore Digital Library
Author	Hongchul Kim Changhoon Seo Shin, Y.J. Jung Kim Youn Sik Kang
Copyright Year	2015
Description	Author affiliation: Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol. (KAIST), Daejeon, South Korea (Jung Kim) \|\| Agency for Defense Dev. (ADD), Daejeon, South Korea (Hongchul Kim; Changhoon Seo; Shin, Y.J.; Youn Sik Kang)
Abstract	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.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	577
Ending Page	582
File Size	1011821
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222598
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Torque Joints Exoskeletons Robot sensing systems Smoothing methods
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in