Powered Ankle Exoskeletons: Existent Designs and Control Systems
نویسندگان
چکیده
منابع مشابه
Mechanics and energetics of level walking with powered ankle exoskeletons.
Robotic lower limb exoskeletons that can alter joint mechanical power output are novel tools for studying the relationship between the mechanics and energetics of human locomotion. We built pneumatically powered ankle exoskeletons controlled by the user's own soleus electromyography (i.e. proportional myoelectric control) to determine whether mechanical assistance at the ankle joint could reduc...
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In this paper we combine Gaussian process regression and impedance control, to illicit robust, anthropomorphic, adaptive control of a powered ankle prosthesis. We learn the non-linear manifolds which guide how locomotion variables temporally evolve, and regress that surface over a velocity range to create a manifold. The joint set of manifolds, as well as the temporal evolution of the gait-cycl...
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In this paper, previous studies in powered exoskeleton and their contributions in the field of robotics technology are presented, together with their corresponding control system. Specific problems and issues that were encountered and the solutions made to resolve the problems will be discussed. Gait cycle analysis and human body dynamic model will also be covered in the study to understand the...
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We constructed a powered ankle-foot orthosis for human walking with a novel myoelectric controller. The orthosis included a carbon fiber and polypropylene shell, a metal hinge joint, and two artificial pneumatic muscles. Soleus electromyography (EMG) activated the artificial plantar flexor and inhibited the artificial dorsiflexor. Tibialis anterior EMG activated the artificial dorsiflexor. We c...
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ژورنال
عنوان ژورنال: Proceedings of International Conference on Artificial Life and Robotics
سال: 2018
ISSN: 2188-7829
DOI: 10.5954/icarob.2018.gs2-6