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In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The research of this article is exoskeleton robot single joint load adaptive servo control. Considering the volunteers, wearing an exoskeleton robot, joints have significant changes in load torque and the moment of inertia,...
This paper presents a practical control strategy used on lower limb exoskeleton to help paraplegic patients to stand up and sit down. It can make the process more comfortable and stable no matter the crutches are pressed heavy or slight. It is particularly efficient to the robots without drivable ankle joints such SIAT exoskeleton. Stable space was configured to ensure that the real time-generated...
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...
An exoskeleton with actuators at the hip and knee joints has been developed for spinal cord injury patients. And a pair of crutches is utilized to help paraplegic patients maintain balance during walking. A real time gait planning strategy has been implemented to allow the users to walk stable and natural. This strategy models the human-machine coupling system as a quadruped robot, adjusts and corrects...
In order to help spinal cord injury (SCI) patients to walk again, a medical robot exoskeleton have been developed to assist these patients to walk independently in SIAT, Shenzhen. The robot has an under-drive control structure. The wearer can maintain balance and shift his (her) body weight with the aid of a pair of crutches. On this robot we have implemented a four-legged gait planning method. Through...
This paper presents a novel device that can be attached to a lower-limb exoskeleton to assist lower extremity hemiplegic patients during sitting down and standing up. Such device serves as a self-adaptive exoskeleton chair. The mechanical design has simple structure, great applicability, reliability and high driving efficiency. This paper first models and analysis the muscle forces during standing...
This paper introduces a novel approach to predict human motion for the Non-binding Lower Extremity Exoskeleton (NBLEX). Most of the exoskeletons must be attached to the pilot, which exists potential security problems. In order to solve these problems, the NBLEX is studied and designed to free pilots from the exoskeletons. Rather than applying Electromyography (EMG) and Ground Reaction Force (GFR)...
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