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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Letian Wang van Asseldonk, E.H.F. van der Kooij, H. |
| Copyright Year | 2011 |
| Description | Author affiliation: Laboratory of Biomechanical Engineering, University of Twente, 7500 EA Enschede, the Netherlands (Letian Wang; van Asseldonk, E.H.F.) || Biomechatronics and Rehabilitation Technology, University of Twente, Enschede, the Netherlands, Biomechanical Engineering Dept., Delft University of Technology, Delft, the Netherlands (van der Kooij, H.) |
| Abstract | This paper introduces a new method for controlling wearable exoskeletons that do not need predefined joint trajectories. Instead, it only needs basic gait descriptors such as step length, swing duration, and walking speed. End point Model Predictive Control (MPC) is used to generate the online joint trajectories based on these gait parameters. Real-time ability and control performance of the method during the swing phase of gait cycle is studied in this paper. Experiments are performed by helping a human subject swing his leg with different patterns in the LOPES gait trainer. Results show that the method is able to assist subjects to make steps with different step length and step duration without predefined joint trajectories and is fast enough for real-time implementation. Future study of the method will focus on controlling the exoskeletons in the entire gait cycle. |
| Starting Page | 1 |
| Ending Page | 6 |
| File Size | 564326 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424498635 |
| ISSN | 19457898 |
| e-ISBN | 9781424498628 |
| e-ISBN | 9781424498611 |
| DOI | 10.1109/ICORR.2011.5975442 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-06-29 |
| Publisher Place | Switzerland |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Knee Legged locomotion model predictive control gait cycle reference Exoskeletons Humans wearable exoskeleton Trajectory Joints end point control Hip |
| Content Type | Text |
| Resource Type | Article |
| Subject | Rehabilitation Control and Systems Engineering Electrical and Electronic Engineering |
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