A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis

Tingfang Yan, Andrea Parri, Matteo Fantozzi, Mario Cortese, Marco Muscolo, Marco Cempini, Francesco Giovacchini, Guido Pasquini, Marko Munih, Nicola Vitiello

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper introduces a novel control strategy for a multi-joint lower-limb exoskeleton during ground-level walking assistive tasks. It is aimed to define a physiologically consistent assistance to the human movements without engaging a complex sensory apparatus, hence providing a simple and comfortable human-robot interface. The control system is a two-block structure: one is based on adaptive oscillators (AOs) dedicated to the hip joint control, the other is a finite-state machine utilized for managing the assistive functions of knee and ankle joints. This control strategy was validated with two subjects walking on a treadmill wearing a hip-knee-ankle-foot (HKAF) exoskeleton. The tests were carried out at different speeds under both zero-torque and assistive control modes. Results presented repetitive and adaptive desired assistive torque profiles during all conditions and both subjects confirmed the benefits of gait assistance. We also analyzed the alterations of kinematics induced by assistive torques: the maximum-changed angle was 8.84 deg at ankle joint, and the time shifts of maximum/minimum angles were always lower than 2% of one stride cycle.

Original languageEnglish
Title of host publicationIEEE International Conference on Rehabilitation Robotics
PublisherIEEE Computer Society
Pages386-391
Number of pages6
Volume2015-September
ISBN (Print)9781479918072
DOIs
Publication statusPublished - Sep 28 2015
Event14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore
Duration: Aug 11 2015Aug 14 2015

Other

Other14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
CountrySingapore
CitySingapore
Period8/11/158/14/15

Keywords

  • adaptive oscillators
  • HKAF exoskeleton
  • state machine

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Rehabilitation

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