Fig 3 - uploaded by Wu Baoyuan
Content may be subject to copyright.
Source publication
A power assist walking leg is designed for enhancing strength and endurance during walking, it can be also applied to one whose legs are injured or who has difficulty in walking because of aging, paralysis and amputation. In this paper, we intend to introduce a concept of power assist walking support system and its fundamental control strategy usin...
Similar publications
( Short-video: https://youtu.be/av04VDDUnJo )
A human can control dynamic properties of his/her own body naturally and effectively according to tasks by utilizing the perceived information of environmental characteristics. If dynamic properties of human movements depending on environmental characteristics can be described quantitatively, there wou...
Citations
... To study the kinematic characteristics of the fall behaviour of the exoskeleton human-machine system, the coordinates of each part need to be defined first [5]. The front of the exoskeleton robot is set to the positive direction of the x-axis, the left side is set to the positive direction of the y-axis, and the vertical upward direction is set to the positive direction of the z-axis, as shown in figure 1. ...
Exoskeleton robot is essentially a wearable robot. In recent years, the research of exoskeleton robots has become a new hot spot, and has gradually been widely used in military, medical and civilian fields. However, the balance and safety issues of power-assisted exoskeleton robots need to be solved urgently. At present, although there are many researches on exoskeleton robots at home and abroad, the research on the falling problem of assisted lower limb exoskeleton robots is not in-depth. Existing studies on falls are mainly focused on the detection of falls, while the prediction of falls is relatively small, and these studies rely more on a single sensor, and its accuracy needs to be improved. In response to the status quo, This paper proposes a fall prediction algorithm based on HMM to study the fall behaviour of the exoskeleton human-machine system in advance, it provides a reference for the anti-fall measures of the exoskeleton robot and aims to effectively reduce the damage of the human-machine system.
... Chen et al. [66] have proposed a force-velocity control algorithm to control the PAWL exoskeleton robot. The force-velocity control algorithm is based on a humanexoskeleton dynamic coupling model. ...
... Index of articles Gait trajectory based [14], [15], [16], [17], [18]- [20], [21], [22], [23], [24], [25], [26], position assistance [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43]- [45], [46], [47], [48], [49], [50], [51], [52], [53], [54], [55], [56], [57], [58] Posture estimation based [59], [60], [61], [62], [63], [64], [65] position assistance Interaction force based [66], [67], [68], [69], [70] velocity assistance Posture estimation based [71], [72], [73], [74]- [76], [77], [78], [79], [80], [81], [82], torque assistance [83], [84], [85], [86], [87], [88], [89], [90], [91], [92], [93], [94], [95], [96], [97], [98], [99], [100], [101]- [103], [104], [105], [106], [107] Interaction force based [108], [109], [110], [111]- [113], [114], [115], [116], [117], [118], [119], torque assistance [120], [121], [122], [123], [124], [125], [126]- [128], [129], [130], [131], [132], [133] Gait feature estimation based [134], [135], [136], [137], [138], [139], torque assistance [140], [141], [142], [143], [144], [145] Physiological intention estimation [146], [147], [148], [149], [150], [151], [152] based position assistance Physiological intention estimation [153] based velocity assistance Physiological intention estimation [154], [155], [156], [157]- [162], [163], [164], [165], based torque assistance [166], [167], [168], [169], [170], [171] so the assistive strategy should not hinder the motion of the pilot. Mavroidis et al. [168] have designed a biofeedback knee device for multiple rehabilitation stages that uses various treatment techniques. ...
This paper proposes an approach based on Artificial Neural Network (ANN) method for gait prediction of a lower-limb exoskeleton equipped with plantar pressure sensors and a pair of crutches. This approach can be implemented to predict the exact moment to change gait motion status. Further, the proposed approach can help to decide the starting movement speed of the pilot, through predictions on angular velocities of joints of both knees and hips. In this way, the exoskeleton can cope better with the pilot. Experimental results show that the new approach can capture the starting point of a new move, as well as predict the starting movement speed based on inputs from pressure sensors installed under pilot’s plantar and crutches.
After more than half a century of intense efforts, the development of exoskeleton has seen major advances, and several remarkable achievements have been made. Reviews of developing history of exoskeleton are presented, both in active and passive categories. Major models are introduced, and typical technologies are commented on. Difficulties in control algorithm, driver system, power source, and man-machine interface are discussed. Current researching routes and major developing methods are mapped and critically analyzed, and in the process, some key problems are revealed. First, the exoskeleton is totally different from biped robot, and relative studies based on the robot technologies are considerably incorrect. Second, biomechanical studies are only used to track the motion of the human body, the interaction between human and machines are seldom studied. Third, the traditional developing ways which focused on servo-controlling have inborn deficiency from making portable systems. Research attention should be shifted to the human side of the coupling system, and the human ability to learn and adapt should play a more significant role in the control algorithms. Having summarized the major difficulties, possible future works are discussed. It is argued that, since a distinct boundary cannot be drawn in such strong-coupling human-exoskeleton system, the more complex the control system gets, the more difficult it is for the user to learn to use. It is suggested that the exoskeleton should be treated as a simple wearable tool, and downgrading its automatic level may be a change toward a brighter research outlook. This effort at simplification is definitely not easy, as it necessitates theoretical supports from fields such as biomechanics, ergonomics, and bionics.
The wearable power assist leg (WPAL) has been developed with the goal of decreasing human inner force / increasing human strength during walking in daily life for special groups, such as the old and the disabled. This paper summarizes the mechanical design using Ergonomics and analyses the dynamic characteristic of the exoskeleton robot considering the friction impact of the joints. According to the model of human muscle-bone, a control strategy mainly based on the human-robot interaction force between the exoskeleton and human leg is proposed. The WPAL is expected to have significant effect on many applications during activities of daily life. Correlative experiment apparatus and results are also covered at last.
The Wearable Power Assist Leg(WPAL) in Feng Chen, et al, (2007) is designed for normal human power augmentation during walking. In this paper, the Force-sensors system of the WPAL has been theoretically analyzed and technically realized in order to gain the interactive movement information of human-robot system for the aim of estimating the operator's intentions and realizing to provide enough assistive power for the operator to amplify the strength and endurance of human leg. After analyzing the necessary interactive information which is used to control the WPAL system, the Force-sensor system has been designed to include the leg reaction force (LRF) sensors, the ground reaction force (GRF) sensors, and the joint angle sensors measuring the joint angles of WPAL for gaining the contact force information and the joint information of the human-robot system. The experiment results showed that the multi-sensor perceptual system performed stably and provided the safeguard for the control of the WPAL.
