CONTROL OF ACTIVE EXOSKELETON FOR LOWER LIMBS
نویسندگان
چکیده
منابع مشابه
Upper and Lower Exoskeleton Limbs for Assistive and Rehabilitative Applications
Individuals with tetraplegia have loss of motor function in both their upper and lower extremities. Research is being conducted into the development of an exoskeleton to cater for the tetraplegic user. An exoskeleton system has the advantage of assisting disabled or rehabilitating patients without the need of surgery. This paper includes the conceptual design of an upper and lower limb exoskele...
متن کاملControl Architecture of a 10 DOF Lower Limbs Exoskeleton for Gait Rehabilitation
This paper describes the control architecture of a 10 DOF (Degrees of Freedom) lower limbs exoskeleton for the gait rehabilitation of patients with gait dysfunction. The system has 4 double‐acting rod pneumatic actuators (two for each leg) that control the hip and knee joints. The motion of each cylinder’s piston is controlled by two proportional pressure valves...
متن کاملParameter Optimization for Neural Oscillators Applied to Trajectory Generation of an Exoskeleton for Lower Limbs
This work presents an optimization system developed to find optimal parameters for neural oscillators used for trajectory generation of an exoskeleton for lower limbs. An exoskeleton can be considered as a biped robot, with a given force interaction between the user and the robot. Since biped robots must present cyclical joint trajectories during the walking, neural oscillators are being used a...
متن کاملTrajectory Generation of Exoskeleton for Lower Limbs Using Synchronized Neural Oscillators
This work presents the simulation of a seven degree of freedom exoskeleton for lower limbs which uses synchronized neural oscillators to generate and adapt the joint trajectories regarding the change of the walking velocity. Neural oscillators are sets of differential equations able to produce an oscillatory signal given appropriate values to their parameters. Thus, a curve fitting optimization...
متن کاملTrajectory Planning for an Exoskeleton for Lower Limbs based on Torso Movements
This paper presents a gait-pattern selection algorithm for exoskeletons based on the Zero Moment Point criterion. The proposed exoskeleton is developed for lower limbs and based on a commercially available orthosis. The step length and duration are considered as the selection parameters. First, these parameters are selected by the designer and a online controller based on the ZMP is implemented...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Biomechanisms
سال: 1984
ISSN: 1348-7116,1349-497X
DOI: 10.3951/biomechanisms.7.189