Stable Walking Feedback Control for a Self-Balanced Lower Limb Exoskeleton for Paraplegics

Author:

Li Jinke123,Tian Dingkui13,Sun Jianquan13,Yin Meng13,Wang Zhuo123,Wu Xinyu123

Affiliation:

1. Guangdong Provincial Key Lab of Robotics and Intelligent System, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, P. R. China

2. Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, Shenzhen 518055, P. R. China

3. SIAT CUHK Joint Laboratory of Robotics and Intelligent Systems, Shenzhen 518055, P. R. China

Abstract

Self-Balanced lower limb exoskeleton (SBLLE) is designed for rehabilitation and walking assistance for dyskinesia persons with spinal or lower limb muscle injury to regain the locomotion ability in daily activities. In this paper, an innovative feedback control strategy for a fully actuated SBLLE is presented, which helps users to walk stably without crutches or other assistive devices. Exoskeleton is approximated as a simplified center of mass (CoM) model. Based on this simplified dynamic model, the trajectory generation and walking feedback control strategy, which enhances the locomotion stability, is introduced. The proposed strategy is implemented on our exoskeleton, AutoLEE-II, and its stability and dynamic performance are demonstrated in the stable walking simulations and experiments for exoskeleton with a female subject.

Funder

National Natural Science Foundation of China

the NSFC-Shenzhen Robotics Research Center Project

Publisher

World Scientific Pub Co Pte Ltd

Subject

Artificial Intelligence,Mechanical Engineering

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Conv-Informer: A Data-driven Method Combining sEMG and Lower Limb Joint Angles for Gait Trajectory Prediction;2024 IEEE International Conference on Real-time Computing and Robotics (RCAR);2024-06-24

2. Biomimetic Viscoelastic Compliance Control for Self-Balancing Lower Limb Exoskeleton;IEEE Transactions on Industrial Informatics;2024

3. Dual-Loop Control Framework of a Self-Balancing Lower-Limb Exoskeleton for Assisted Walking;IEEE Transactions on Instrumentation and Measurement;2024

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