In this section
@article{Huo:2022,
author = {Huo, W and Moon, H and Alouane, MA and Bonnet, V and Huang, J and Amirat, Y and Vaidyanathan, R and Mohammed, S},
journal = {IEEE Transactions on Robotics},
pages = {1230--1249},
title = {Impedance modulation control of a lower limb exoskeleton to assist sit-to-stand movements},
url = {http://hdl.handle.net/10044/1/90850},
volume = {38},
year = {2022}
}
TY - JOUR
AB - As an important movement of the daily living activities, sit-to-stand (STS) movement is usually a difficult task facingelderly and dependent people. In this article, a novel impedancemodulation strategy of a lower limb exoskeleton is proposed toprovide appropriate power and balance assistance during STSmovements while preserving the wearer’s control priority. Theimpedance modulation control strategy ensures adaptation of themechanical impedance of the human-exoskeleton system towardsa desired one requiring less wearer’s effect while reinforcing thewearer’s balance control ability during STS movements. A humanjoint torque observer is designed to estimate the joint torquesdeveloped by the wearer using joint position kinematics instead ofelectromyography (EMG) or force sensors; a time-varying desiredimpedance model is proposed according to the wearer’s lowerlimb motion ability. A virtual environmental force is designedfor the balance reinforcement control. Stability and robustness ofthe proposed method are theoretically analyzed. Simulations wereimplemented to illustrate the characteristics and performance ofthe proposed approach. Experiments with four healthy subjectswere carried out to evaluate the effectiveness of the proposedmethod and show satisfactory results in terms of appropriatepower assist and balance reinforcement.
AU - Huo,W
AU - Moon,H
AU - Alouane,MA
AU - Bonnet,V
AU - Huang,J
AU - Amirat,Y
AU - Vaidyanathan,R
AU - Mohammed,S
EP - 1249
PY - 2022///
SN - 1552-3098
SP - 1230
TI - Impedance modulation control of a lower limb exoskeleton to assist sit-to-stand movements
T2 - IEEE Transactions on Robotics
UR - http://hdl.handle.net/10044/1/90850
VL - 38
ER -
Established in 2017 by its principal funder the Medical Research Council, in partnership with Alzheimer's Society and Alzheimer’s Research UK, The UK Dementia Research Institute (UK DRI) is the UK’s leading biomedical research institute dedicated to neurodegenerative diseases.
