Integral admittance shaping: a unified framework for active exoskeleton control

Publisher:
Elsevier
Publication Type:
Journal Article
Citation:
Robotics and Autonomous Systems, 2016, 75 (Part B), pp. 310 - 324
Issue Date:
2016
Full metadata record
Files in This Item:
Filename Description Size
NagarajanAguirreGoswami-Integral admittance shaping-Accepted.pdfAccepted Manuscript Version1.52 MB
Unknown
Current strategies for lower-limb exoskeleton control include motion intent estimation, which is subject to inaccuracies in muscle torque estimation as well as modeling error. Approaches that rely on the phases of a uniform gait cycle have proven effective, but lack flexibility to aid other kinds of movement. This research aims at developing a more versatile control that can assist the lower limbs independently of the movement attempted. Our control strategy is based on modifying the dynamic response of the human limbs, specifically their mechanical admittance. Increasing the admittance makes the lower limbs more responsive to any muscle torque generated by the human user. We present Integral Admittance Shaping, a unified mathematical framework for: (a) determining the desired dynamic response of the coupled system formed by the human limb and the exoskeleton, and (b) synthesizing an exoskeleton controller capable of achieving said response.
Please use this identifier to cite or link to this item: