A Time-Independent Control System for Natural Human Gait Assistance With a Soft Exoskeleton

Xiaowei Tan; Bi Zhang; Guangjun LiuXingang ZhaoYiwen Zhao

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A Time-Independent Control System for Natural Human Gait Assistance With a Soft Exoskeleton

机译：A Time-Independent Control System for Natural Human Gait Assistance With a Soft Exoskeleton

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摘要

When applying exoskeletons for walking assistance, one important consideration is to ensure that the users retain full control over the exoskeleton-provided assistance, which is quite limited in existing exoskeletons due to the absence of a suitable control system. In this article, a time-independent exoskeleton control system is developed based on a novel assistance profile generation method and an iterative force control method to enable continuous assistance adjustment. The assistance profile is formulated as a Gaussian function with a human state variable and can be updated online to adapt to different users. The proposed profile continuously self-adjusts along the movement of the user's leg, especially when users change their walking patterns. The proposed control system iteratively compensates for the force control lag and amplitude attenuation to enable precise tracking of the assistance profile during natural human walking. Experiments have been conducted using a soft exoskeleton on subjects with and without prior experience using an exoskeleton. The experimental results have shown the effectiveness of the proposed control system compared with a common time-dependent control system.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1653-1667|共15页
作者
Xiaowei Tan; Bi Zhang; Guangjun LiuXingang ZhaoYiwen Zhao;
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作者单位

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China|Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China|University of Chinese Academy of Sciences, Beijing, China;

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China|Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China;

Department of Aerospace Engineering, Ryerson University, Toronto, ON, Canada;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Exoskeletons; Control systems; Legged locomotion; Torque; Pulleys; Mechanical cables; Wearable robots;

A Time-Independent Control System for Natural Human Gait Assistance With a Soft Exoskeleton

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