NDLI: Lower body exoskeleton-supported compliant bipedal walking for paraplegics: How to reduce upper body effort?

Content Provider	IEEE Xplore Digital Library
Author	Ugurlu, B. Oshima, H. Narikiyo, T.
Copyright Year	2014
Description	Author affiliation: Dept. of Brain Robot Interface, Adv. Telecommun. Res. Inst. Int. (ATR), Kyoto, Japan (Ugurlu, B.) \|\| Dept. of Adv. Sci. & Technol., Toyota Technol. Inst. (TTI), Nagoya, Japan (Oshima, H.; Narikiyo, T.)
Abstract	This paper introduces a position-based compliance control algorithm that can be implemented in a lower extremity exoskeleton-supported paraplegia walking task, in which upper body has to be utilized to maintain the overall balance. In order to reduce the upper body effort required during the task, the controller is designated to be capable of managing the position/force trade-off in conjunction with an active admittance regulator scheme. In the case of no force errors, the controller prioritizes position tracking in a way to achieve walking support. Once the force error increases (e.g., ground reaction force peaks, unexpected disturbances, stepping on an object, etc.) the position reference is updated in accordance with the force constraints and active admittance characteristics. By the virtue of this strategy, the human-robot system exhibits enhanced environmental interaction capabilities; therefore, the subject can maintain the overall balance with relatively less upper body effort while walking. Implementing the proposed method, we conducted robot-assisted walking experiments on 4 able-bodied subjects with different body mass index levels and genders. Subjects were instructed to be in passive mode. In addition, walking with severe obstacles was also experimented on a single able-bodied subject. In conclusion, the proposed method enabled us to yield enhanced walking performance comparing to classical rigid position control scheme; indicating that it could potentially introduce a compliant locomotion control alternative for the paraplegia walking support task with a comparatively less amount of upper body effort requirements.
Starting Page	1354
Ending Page	1360
File Size	2649609
Page Count	7
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907028
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Joints Legged locomotion Admittance Foot Exoskeletons
Content Type	Text
Resource Type	Article

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