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This paper explains why neural oscillators can enable synchronization and assist effect of a robot for rhythmic power assist. Synchronization gain is introduced in this study to adjust the synchronization level. Larger gain enables the neural oscillator synchronize its oscillation frequency with the input oscillation frequency, but the oscillation amplitude of the neural oscillator is getting larger...
A new synchronization-based control is proposed for a robotic suit which is designed for walking assistance. Neural oscillators are connected to each joint of the robotic suit to synchronize suit's movement with human user's movement (outer-synchronization). At the same time, mutual inhibition is incorporated between neural oscillators at each left and right joint of the suit to help to maintain a...
We proposed a framework of using neural oscillators to control a robotic suit which learns to synchronize with the human user's motion. The robotic suit is a lower limb exoskeleton consisting of four actuators which are fixed to the places where the human hip joints and knee joints are. Each actuator has a built-in harmonic drive gear which is equipped with a torque sensor fixed on the flex-spline...
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