外骨骼
计算机科学
动力外骨骼
弹道
康复
物理医学与康复
反馈控制
模拟
控制理论(社会学)
控制(管理)
物理疗法
控制工程
医学
人工智能
工程类
物理
天文
作者
Jinke Li,Dingkui Tian,Jianquan Sun,Meng Yin,Zhuo Wang,Xinyu Wu
标识
DOI:10.1142/s0219843623500068
摘要
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.
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