A 1-DOF Assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs

Aguirre-Ollinger, G; Colgate, JE; Peshkin, M; Goswami, A

A 1-DOF Assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs

Aguirre-Ollinger, G Colgate, JE Peshkin, M Goswami, A

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Publisher:: IEEE
Publication Type:: Conference Proceeding
Citation:: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, 1 pp. 1938 - 1944
Issue Date:: 2007-01

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Field	Value	Language
dc.contributor.author	Aguirre-Ollinger, G	en_US
dc.contributor.author	Colgate, JE	en_US
dc.contributor.author	Peshkin, M	en_US
dc.contributor.author	Goswami, A	en_US
dc.contributor.editor	NA	en_US
dc.date	2007-10-28	en_US
dc.date.issued	2007-01	en_US
dc.identifier.citation	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, 1 pp. 1938 - 1944	en_US
dc.identifier.isbn	1-4244-0912-8	en_US
dc.identifier.uri	http://hdl.handle.net/10453/14156
dc.description.abstract	We propose a novel control method for lowerlimb assist that produces a virtual modification of the mechanical impedance of the human limbs. This effect is accomplished through the use of an exoskeleton that displays active impedance. The proposed method is aimed at improving the dynamic response of the human limbs, while preserving the user's control authority. Our goal is to use active-impedance exoskeleton control to improve the user's agility of motion, for example by reducing the average time needed to complete a movement. Our control method has been implemented in a 1-DOF exoskeleton designed to assist human subjects performing knee flexions and extensions. In this paper we discuss an initial study on the effect of negative exoskeleton damping (a particular case of active-impedance control) on the subject's time to complete a target-reaching motion. Experimental results show this effect to be statistically significant. On average, subjects were able to reduce the time to complete the motion by 16%.	en_US
dc.publisher	IEEE	en_US
dc.relation.ispartof	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems	en_US
dc.relation.ispartof	IEEE/RSJ International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2007.4399147	en_US
dc.rights	© 2007 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.	en_US
dc.title	A 1-DOF Assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs	en_US
dc.type	Conference Proceeding
utslib.citation.volume	1	en_US
utslib.location	Piscataway, USA	en_US
utslib.location.activity	San Diego, USA	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	San Diego, USA	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	open_access
pubs.consider-herdc	false	en_US
pubs.place-of-publication	Piscataway, USA	en_US
pubs.start-date	2007-10-28	en_US
pubs.volume	1	en_US

Abstract:

We propose a novel control method for lowerlimb assist that produces a virtual modification of the mechanical impedance of the human limbs. This effect is accomplished through the use of an exoskeleton that displays active impedance. The proposed method is aimed at improving the dynamic response of the human limbs, while preserving the user's control authority. Our goal is to use active-impedance exoskeleton control to improve the user's agility of motion, for example by reducing the average time needed to complete a movement. Our control method has been implemented in a 1-DOF exoskeleton designed to assist human subjects performing knee flexions and extensions. In this paper we discuss an initial study on the effect of negative exoskeleton damping (a particular case of active-impedance control) on the subject's time to complete a target-reaching motion. Experimental results show this effect to be statistically significant. On average, subjects were able to reduce the time to complete the motion by 16%.

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http://hdl.handle.net/10453/14156