Controller for an Assistive Exoskeleton Based on Active Impedance

Aguirre-Ollinger, G; Goswami, A; Golgate, JE; Peshkin, MA

Controller for an Assistive Exoskeleton Based on Active Impedance

Aguirre-Ollinger, G Goswami, A Golgate, JE Peshkin, MA

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Field	Value	Language
dc.contributor.author	Aguirre-Ollinger, G	en_US
dc.contributor.author	Goswami, A	en_US
dc.contributor.author	Golgate, JE	en_US
dc.contributor.author	Peshkin, MA	en_US
dc.date	2010-06-08	en_US
dc.identifier.uri	http://hdl.handle.net/10453/37672
dc.description.abstract	A system and method are presented to provide assist to a user by means of an exoskeleton with a controller capable of making the exoskeleton display active impedance. The exoskeleton assists the user by reducing the muscle effort required by the user to move his or her extremities. In one embodiment, a single-degree-of-freedom (1-DOF) exoskeleton assists a user with single-joint movement using an active impedance controller. In another embodiment, a multiple-degree-of-freedom (multi-DOF) exoskeleton assists a user with multiple-joint movement using an active impedance controller.	en_US
dc.title	Controller for an Assistive Exoskeleton Based on Active Impedance	en_US
dc.type	Patent
utslib.location.activity	United States	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.patent-status	Awarded	en_US
pubs.start-date	2010-06-08	en_US

Abstract:

A system and method are presented to provide assist to a user by means of an exoskeleton with a controller capable of making the exoskeleton display active impedance. The exoskeleton assists the user by reducing the muscle effort required by the user to move his or her extremities. In one embodiment, a single-degree-of-freedom (1-DOF) exoskeleton assists a user with single-joint movement using an active impedance controller. In another embodiment, a multiple-degree-of-freedom (multi-DOF) exoskeleton assists a user with multiple-joint movement using an active impedance controller.

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http://hdl.handle.net/10453/37672