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The on-line walking speed control in human-powered exoskeleton systems is a big challenge, the real-time translations of human intention to increase or decrease walking speed in maneuverable coupled human exoskeleton systems is still complex field. An adaptive trajectory frequency control algorithm has been developed to guide the exoskeleton's joint in HUman-powered Augmentation Lower Exoskeleton...
Human-powered lower exoskeletons have gained considerable interests from both academia and industry over the past few decades, and thus have seen increasing applications in areas of human locomotion assistance and strength augmentation. One of the most important aspects in those applications is to achieve robust control of lower exoskeletons, which, in the first place, requires the proactive modeling...
Sensitivity Amplification Control (SAC) algorithm was first proposed in the augmentation applications of Berkeley Lower Extremity Exoskeleton (BLEEX). The SAC algorithm is widely used in human augmentation applications since it just need the information from the exoskeleton robot, so that the complexity of exoskeleton system can be reduced greatly. However, the SAC algorithm has two main drawbacks:...
Impedance control has been widely developed in the robotic exoskeleton field for human performance assistance and enhancement. However, the determination of desired impedance parameters that dominates the characteristics of interaction force and motion control is not straightforward since these parameters depend not only on the physical properties of the wearer but also on the speed region during...
This paper presents a control algorithm for lower extremity exoskeleton robot which based on master-slave control strategy, First the lower extremity exoskeleton ‘PRMI exoskeleton’ (exoskeleton developed in Pattern Recognition and Machine Intelligence Lab) is introduced in this paper, which divided into three parts including a mechanical system, a sensing system and a control system. Then a kind of...
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