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To control exoskeletons for walking gait assistance, it is of primary importance to control them to act synchronously with the gaits of users. To effectively estimate the gait cycle (or the phase within a stride) of users, we propose a new adaptive frequency oscillator (AFO). While previous AFOs successfully estimated the walking frequency from joint angles as inputs, the new AFO, called particularly-shaped...
In this paper, we present a decentralized control strategy which is based on discrete-time adaptive control, for control of the ankle joint in paraplegic subjects using functional electrical stimulation. Agonist-antagonist co-activation is used to control the ankle movement. To achieve this purpose, first, the human is modeled as a single segment inverted pendulum which rotates about the ankle joint...
In this paper a multiple model adaptive control scheme is designed and evaluated for the electrically stimulated isometric human arm. Experimental data are first used to identify models that represent various stages of muscular fatigue. The control scheme is then implemented on four unimpaired participants supplying zero voluntary effort. Results illustrate the ability of the scheme to track the time-variance...
A comparison of two different models of a pair of antagonistic muscles for horizontal shoulder abduction and adduction is presented. The proposed models are based on the so called Hill-model: a mechanical framework (inertia, dampers and springs) is used for their development. The models consider as inputs the estimates of the activation states of the muscles based on digital filtering of the evoked...
This paper presents the development of a torque-based myoelectric impedance controller for an active-knee transfemoral prosthesis. An anthropomorphically inspired agonist-antagonist impedance controller studied in a myoelectric elbow prosthesis is adapted for the knee joint. To parameterize the controller, regression analysis was applied to a recently updated lower-extremity neuromuscular simulation...
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