Trajectory adaptation method for fast walking control of an exoskeleton

In this paper, we propose the novel gait trajectory adaptation method applicable to an exoskeleton for strength augmentation. The proposed method consists of the online positive feedback trajectory adaptation method and the swing phase duration adaptation method. The swing test results of an exoskel...

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Bibliographic Details
Published in2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) pp. 1090 - 1095
Main Authors Sanghoon Lee, Changhoon Seo, Byunghun Choi, Byungun Kim, Soohyun Kim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2017
Subjects
Exoskeletons
Force
Impedance
Legged locomotion
Torque
Trajectory
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Summary:In this paper, we propose the novel gait trajectory adaptation method applicable to an exoskeleton for strength augmentation. The proposed method consists of the online positive feedback trajectory adaptation method and the swing phase duration adaptation method. The swing test results of an exoskeleton prototype showed that the proposed method is more adaptable to the change of the trajectory amplitude than the general trajectory control method mainly used for rehabilitation and it can adjust the swing phase duration as the walking speed changes. This method can be utilized to design the fast walking control of an exoskeleton in a swing phase.
ISSN:1944-9437
DOI:10.1109/ROMAN.2017.8172439