Active-Impedance Control of a Lower-Limb Assistive Exoskeleton

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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 Driessen, B
dc.contributor.editor Herder, JL
dc.contributor.editor Gelderblom, GJ
dc.date.accessioned 2012-02-02T11:08:18Z
dc.date.issued 2007-01
dc.identifier.citation Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, 2007, pp. 188 - 195
dc.identifier.isbn 1-4244-1320-6
dc.identifier.other E1UNSUBMIT en_US
dc.identifier.uri http://hdl.handle.net/10453/16314
dc.description.abstract We propose a novel control method for lower-limb assist that produces a virtual modification of the mechanical impedance of the human limbs. This effect is accomplished by making the exoskeleton display active impedance properties. Active impedance control emphasizes control of the exoskeleton's dynamics and regulation of the transfer of energy between the exoskeleton and the user. Its goal is improving the dynamic response of the human limbs without sacrificing the user's control authority. The proposed method is an alternative to myoelectrical exoskeleton control, which is based on estimating muscle torques from electromyographical (EMG) activity. Implementation of an EMG-based controller is a complex task that involves modeling the user's musculoskeletal system and requires recalibration. In contrast, active impedance control is less dependent on estimation of the user's attempted motion, thereby avoiding conflicts resulting from inaccurate estimation. In this paper we also introduce a new form of human assist based on improving the kinematic response of the limbs. Reduction of average muscle torques is a common goal of research in human assist. However, less emphasis has been placed so far on improving the user's agility of motion. We aim to use active impedance control to attain such effects as increasing the user's average speed of motion, and improving their acceleration capabilities in order to compensate for perturbations from the environment.
dc.publisher IEEE
dc.relation.isbasedon 10.1109/ICORR.2007.4428426
dc.title Active-Impedance Control of a Lower-Limb Assistive Exoskeleton
dc.type Conference Proceeding
dc.parent Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics
dc.journal.number en_US
dc.publocation USA en_US
dc.identifier.startpage 188 en_US
dc.identifier.endpage 195 en_US
dc.cauo.name FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.conference IEEE International Conference on Rehabilitation Robotics
dc.for 1004 Medical Biotechnology
dc.personcode 109295
dc.percentage 100 en_US
dc.classification.name Medical Biotechnology en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE International Conference on Rehabilitation Robotics en_US
dc.date.activity 20070612 en_US
dc.date.activity 2007-06-12
dc.location.activity The Netherlands en_US
dc.description.keywords Exoskeleton, lower limb, active impedance, assist. en_US
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 Closed Access
utslib.copyright.date 2015-04-15 12:17:09.805752+10
utslib.collection.history Closed (ID: 3)


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