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Lower-limb exoskeleton is widely used for assisting walk in rehabilitation field. One key problem for exoskeleton control is to model and predict the suitable gait trajectories of wearer. In this paper, we propose a Deep Rehabilitation Gait Learning (DRGL) for modeling the knee joints of lower-limb exoskeleton, which firstly leverage Long-Short Term Memory (LSTM) to learn the inherent spatial-temporal...
Aiming at the attitude stabilization and angle tracking control of quadrotor aircraft, an optimized cascade double-loop PI-PID controller is proposed. It is based on strong coupling and nonlinear dynamic model in this paper. A PI controller acts as an outer loop controller, which controls primary physical parameter, namely the attitude. The other PID controller acts as an inner loop controller, which...
Getting the exoskeleton pilot's motion intent is very important for exoskeleton control. In this paper, a new approach to predict human motion is proposed. The prediction method is based on Hidden Semi-Markov Models. The orientation of the pilot's segment is collected by the Inertial Measurement Unit. The Adaptive Boosting algorithm is adopted to classify the orientation data into labels. The sequence...
In this paper, we present a novel non-binding lower extremity exoskeleton (NextExo) for bearing load, where there is no binding point between the NextExo and human. With the innovative structure, the NextExo is able to stand in balance without attaching human, and bear the weights of its own and load completely. This also avoids the damage to operator caused by long-time binding. The NextExo has eight...
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