Synergy-Based Control of Assistive Lower-Limb Exoskeletons by Skill Transfer

• Published in: IEEE/ASME transactions on mechatronics Vol. 25; no. 2; pp. 705 - 715
• Main Authors: Wei, Qiang, Li, Zhijun, Zhao, Kuankuan, Kang, Yu, Su, Chun-Yi
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive fuzzy control; Adaptive systems; Computational modeling; Electromyography; Exoskeletons; Fuzzy systems; Gait; Human motion; Impedance; Impedance matching; Legged locomotion; Locomotion; lower-limb exoskeletons; Mathematical models; Model matching; Parameter estimation; Parameter identification; Robot kinematics; Robot sensing systems; Robots; skill transfer; Skills; Stiffness matrix; synergy-based control; Trajectory control; variable stiffness; Walking

Considering neuronal coordination between limbs, this article presents a study on the control of lower-limb exoskeletons for assistance of human gait by transferring the motor skills. The synergy-based robotic controller captures kinesiological information and biological signals from the healthy leg...