A Method of Swing Leg Control for a Minimally Actuated Medical Exoskeleton for Individuals With Paralysis
ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL 2(2013)
Abstract
This paper discusses the control of a medical exoskeleton swing leg that has a "passive" (unactuated) knee. Previous work in legged locomotion has demonstrated the feasibility of achieving natural, energy efficient walking with minimally actuated robotic systems. This work will present early results for a medical exoskeleton that only has actuation that powers the flexion and extension of the biological hip. In this work, a hybrid model of the state dependent kinematics and dynamics of the swing leg will be developed and parameterized to yield swing hip dynamics as a function of desired knee flexion dynamics. This model is used to design swing hip motions that control the flexion behavior of the passive swing knee in a human-like manner. This concept was tested by a paraplegic user wearing a new minimally actuated exoskeleton. The presented results show that a human-like swing phase can be achieved with an exoskeleton that has fewer actuated degrees of freedom than current medical exoskeletons.
MoreTranslated text
Key words
biomedicine
AI Read Science
Must-Reading Tree
Example
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined