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

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dc.contributor.author Aguirre-Ollinger, G
dc.contributor.author Colgate, JE
dc.contributor.author Peshkin, M
dc.contributor.author Goswami, A
dc.contributor.editor NA
dc.date.accessioned 2011-02-07T06:28:38Z
dc.date.issued 2007-01
dc.identifier.citation Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, 1 pp. 1938 - 1944
dc.identifier.isbn 1-4244-0912-8
dc.identifier.other E1UNSUBMIT 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%.
dc.publisher IEEE
dc.relation.hasversion Accepted manuscript version
dc.relation.isbasedon 10.1109/IROS.2007.4399147
dc.title A 1-DOF Assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs
dc.type Conference Proceeding
dc.parent Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.journal.volume 1
dc.journal.number en_US
dc.publocation Piscataway, USA en_US
dc.identifier.startpage 1938 en_US
dc.identifier.endpage 1944 en_US
dc.cauo.name FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.conference IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.for 0913 Mechanical Engineering
dc.personcode 109295
dc.percentage 100 en_US
dc.classification.name Mechanical Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20071028 en_US
dc.date.activity 2007-10-28
dc.location.activity San Diego, USA en_US
dc.description.keywords rehabilitation robotics; exoskeleton; lower limb; active impedance; assist en_US
dc.description.keywords rehabilitation robotics
dc.description.keywords exoskeleton
dc.description.keywords lower limb
dc.description.keywords active impedance
dc.description.keywords assist
pubs.embargo.period Not known
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 Elec, Mech and Mechatronic Systems
utslib.copyright.status Open Access
utslib.copyright.date 2015-04-15 12:23:47.074767+10
utslib.collection.history General (ID: 2)


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