Trajectory generation and control of a knee exoskeleton based on dynamic movement primitives for sit-to-stand assistance

• Published in: Advanced robotics Vol. 30; no. 13; pp. 846 - 860
• Main Authors: Kamali, Kaveh, Akbari, Ali Akbar, Akbarzadeh, Alireza
• Format: Journal Article
• Language: English
• Published: Taylor & Francis 02.07.2016
• Subjects: assistive control; Controllers; dynamic movement primitives; Dynamics; Exoskeleton; Exoskeletons; Generators; Impedance; Knees; Movement; sit-to-stand; Trajectories

This paper presents a novel control approach for a knee exoskeleton to assist individuals with lower extremity weakness during sit-to-stand motion. The proposed method consists of a trajectory generator and an impedance controller. The trajectory generator uses a library of sample trajectories as th...