Force Sensorless Compliance Control of a Lower-limb Exoskeleton Robot

Lower-Limb Wearable Exoskeleton

There are numerous causes that can affect the functioning of the human locomotor system, leading to the appearance of joint disorders in the lower limb and generating atypical gait patterns. The importance of research and development in assistance technologies to compensate pathological gait have been recognised since the beginning of the twentieth century and numerous challenges still lie ahea...

Torque Analysis of the Lower Limb Exoskeleton Robot Design

Exoskeleton is a type of wearable robots that can augment the performance of an able-bodied user. There are many studies that use hydraulic actuator to actuate the lower limb exoskeleton which possesses several drawbacks like dirty, noisy and high power consumption. Therefore, electrical actuators that are clean, silent and less power consuming are used in designing the lower limb exoskeleton i...

Control of lower limb exoskeleton with simulated EMG signal

Customizable Rehabilitation Lower Limb Exoskeleton System

Disabled people require assistance with the motion of their lower limbs to improve rehabilitation. Exoskeletons used for lower limb rehabilitation are highly priced and are not affordable to the lowerincome sector of the population. This paper describes an exoskeleton lower limb system that was designed keeping in mind that the cost must be as low as possible. ...

Sensorless Torque/Force Control

Motion control systems represent a main subsystem for majority of processing systems that can be found in the industrial sector. These systems are concerned with the actuation of all devices in the manufacturing process such as machines, robots, conveyor systems and pick and place mechanisms such that they satisfy certain motion requirements, e.g., the pre specified reference trajectories are f...