2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC) / Institute of Electrical and Electronics Engineers (IEEE).

Format:

Book

Author/Creator:

Institute of Electrical and Electronics Engineers (IEEE), author, issuing body.

Language:

English

Subjects (All):

Big data--Congresses.

Big data.

Cybernetics--Congresses.

Cybernetics.

Human-machine systems--Congresses.

Human-machine systems.

Physical Description:

1 online resource : illustrations

Other Title:

2021 IEEE International Conference on Systems, Man, and Cybernetics

Place of Publication:

Piscataway, New Jersey : Institute of Electrical and Electronics Engineers (IEEE), 2021.

Summary:

The hip assistance robotic exoskeleton has been demonstrated as an effective device to assist elderly and disabled people with gait disorders. The assistance efficiency of these devices, however, is less optimized because the parameters in the active impedance control are manually designated. This paper presented a novel assistance control scheme to address the sub-optimal issue. This study poses that the assistance efficiency can be maximized by modifying the mechanical impedance to resonate with the muscle driving force, in which the human-exoskeleton coupling system is approximated with a second-order dynamical system. Based on this, the exoskeleton virtual stiffness is adaptively tuned to make the system intrinsic frequency align with the intended swing frequency. The proposed assistance control scheme demonstrated an increased assistance efficiency than the conventional active impedance control in a simulated study. Experiments that were managed on a newly custom-made hip assistance robotic exoskeleton also demonstrated strong evidence of improved gait kinematics with decreased muscle-skeleton efforts.

Notes:

Description based on publisher supplied metadata and other sources.

ISBN:

9781665442077

1665442077