A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis

• Published in: IEEE International Conference on Rehabilitation Robotics pp. 386 - 391
• Main Authors: Tingfang Yan, Parri, Andrea, Fantozzi, Matteo, Cortese, Mario, Muscolo, Marco, Cempini, Marco, Giovacchini, Francesco, Pasquini, Guido, Munih, Marko, Vitiello, Nicola
• Format: Conference Proceeding Journal Article
• Language: English
• Published: IEEE 01.08.2015
• Subjects: Adaptive control systems; adaptive oscillators; Automata; Control systems; Exoskeletons; Hip; HKAF exoskeleton; Joints; Knee; Legged locomotion; Oscillators; state machine; Strategy; Surgical implants; Torque; Treadmills; Walking

This paper introduces a novel control strategy for a multi-joint lower-limb exoskeleton during ground-level walking assistive tasks. It is aimed to define a physiologically consistent assistance to the human movements without engaging a complex sensory apparatus, hence providing a simple and comfort...