The Berkeley Lower Extremity Exoskeleton
نویسنده
چکیده
University of California, Berkeley, Berkeley, CA 94720 The iirst junctional/oat/-carrying ant! efll~r;.:e ticaffy lIUWl /Ol1/Ol/S exoskefetoll ww' demollstrated at the University o/Califomia, Berkeley, lilli/kill/: at tile llveragl' speed of 1.3 11I 1s (2. 9 mph) while carrY;lIg a 34 kg (75 lb) payload. Four jllllc/ame1lta/ tec/lll% gies associated with the Berkeley lower extremity exoskeleton were tack/ell durillg 'he course of This project. '/11ese JOllr (:ore technologies ;IIc:/ude the design of 'he exoskeh'lOll arc:hilecIlIre, control schemes, a body local (lreo network 10 host the cOIllml algorithm, and a series of ol/-board pOWl~r I/I/its 10 power the (/('fl/(/tor~', sensors, alld the cOlI/plllers. nlis paper gives all overview of olle of the COl/1m/ s('IJ(~mes. The al/aIY~'is here is till extension of the classical definition of the sensilivity fUllction of a system: the ability of a system to reject disfllrballces or the measure oj system robusilles.\·. 'J11e confrol algorithm de veloped here increases the closed-loop system sellsitivity to its wearer\' forces (md torques withOllt allY measllremelll from Ihe !Vearer (s l/ch liS jorce, position, or electromyogram siglIal). 'J1le control method has little robusll/ess 10 parameter varia/ions and Iherefore requires a relatively good dynamic model of the systelll. The mule-offs betwl'CII havillg sensors to measure I/Unum variables and the lack of robustlless ro parameter variation ore describec/, [1l01: 10 ,1 I 15/ 1.2168 164J
منابع مشابه
The Berkeley Lower Extremity Exoskeleton Project
In October 2003, the first functional load-bearing and energetically autonomous exoskeleton was demonstrated at Berkeley, walking at the average speed of two miles per hour while carrying 75 pounds of load. DARPA funded the Berkeley Lower Extremity Exoskeleton (BLEEX) project in 2000 at Berkeley. In general, four fundamental technologies were tackled during the course of this project. These fou...
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Exoskeletons are utilized extensively in robotic rehabilitation and power augmentation purposes. One of the most recognised control algorithms utilized in this field is the impedance controller. Impedance control approach provides the capability of realizing different rehabilitation exercises by tuning the target impedance gains. Trial and error experimental approach is one of the most common m...
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The Berkeley Lower Extremity Exoskeleton is the first functional energetically autonomous load carrying human exoskeleton and was demonstrated at U.C. Berkeley, walking at the average speed of 0.9 m/s (2 mph) while carrying a 34 kg (75 lb) payload. The original published controller, called the BLEEX Sensitivity Amplification Controller, was based on positive feedback and was designed to increas...
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تاریخ انتشار 2005