A 1-DOF Assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs

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dc.contributor.author Aguirre-Ollinger, Gabriel en_US
dc.contributor.author Colgate, James en_US
dc.contributor.author Peshkin, Michael en_US
dc.contributor.author Goswami, A en_US
dc.contributor.editor NA en_US
dc.date.accessioned 2011-02-07T06:28:38Z
dc.date.available 2011-02-07T06:28:38Z
dc.date.issued 2007 en_US
dc.identifier 2009007936 en_US
dc.identifier.citation Aguirre-Ollinger Gabriel et al. 2007, 'A 1-DOF Assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs', , IEEE, Piscataway, USA, , pp. 1938-1944. en_US
dc.identifier.issn 1-4244-0912-8 en_US
dc.identifier.other E1UNSUBMIT en_US
dc.identifier.uri http://hdl.handle.net/10453/14156
dc.description.abstract We propose a novel control method for lowerlimb assist that produces a virtual modification of the mechanical impedance of the human limbs. This effect is accomplished through the use of an exoskeleton that displays active impedance. The proposed method is aimed at improving the dynamic response of the human limbs, while preserving the user's control authority. Our goal is to use active-impedance exoskeleton control to improve the user's agility of motion, for example by reducing the average time needed to complete a movement. Our control method has been implemented in a 1-DOF exoskeleton designed to assist human subjects performing knee flexions and extensions. In this paper we discuss an initial study on the effect of negative exoskeleton damping (a particular case of active-impedance control) on the subject's time to complete a target-reaching motion. Experimental results show this effect to be statistically significant. On average, subjects were able to reduce the time to complete the motion by 16%. en_US
dc.language en_US
dc.publisher IEEE en_US
dc.relation.hasversion Accepted manuscript version
dc.relation.isbasedon http://dx.doi.org/10.1109/IROS.2007.4399147 en_US
dc.title A 1-DOF Assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs en_US
dc.parent Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.journal.volume 1 en_US
dc.journal.number en_US
dc.publocation Piscataway, USA en_US
dc.identifier.startpage 1938 en_US
dc.identifier.endpage 1944 en_US
dc.cauo.name FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.for 091300 en_US
dc.personcode 109295 en_US
dc.personcode 0000046380 en_US
dc.personcode 0000046381 en_US
dc.personcode 0000064129 en_US
dc.percentage 100 en_US
dc.classification.name Mechanical Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE/RSJ International Conference on Intelligent Robots and Systems en_US
dc.date.activity 20071028 en_US
dc.location.activity San Diego, USA en_US
dc.description.keywords rehabilitation robotics; exoskeleton; lower limb; active impedance; assist en_US


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