Active-Impedance Control of a Lower-Limb Assistive Exoskeleton

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Show simple item record Aguirre-Ollinger, Gabriel en_US Colgate, James en_US Peshkin, Michael en_US Goswami, A en_US
dc.contributor.editor Bart Driessen, Just L. Herder, Gert Jan Gelderblom en_US 2012-02-02T11:08:18Z 2012-02-02T11:08:18Z 2007 en_US
dc.identifier 2010000872 en_US
dc.identifier.citation Aguirre-Ollinger Gabriel et al. 2007, 'Active-Impedance Control of a Lower-Limb Assistive Exoskeleton', , IEEE, USA, , pp. 188-195. en_US
dc.identifier.issn 1-4244-1320-6 en_US
dc.identifier.other E1UNSUBMIT en_US
dc.description.abstract We propose a novel control method for lower-limb assist that produces a virtual modification of the mechanical impedance of the human limbs. This effect is accomplished by making the exoskeleton display active impedance properties. Active impedance control emphasizes control of the exoskeleton's dynamics and regulation of the transfer of energy between the exoskeleton and the user. Its goal is improving the dynamic response of the human limbs without sacrificing the user's control authority. The proposed method is an alternative to myoelectrical exoskeleton control, which is based on estimating muscle torques from electromyographical (EMG) activity. Implementation of an EMG-based controller is a complex task that involves modeling the user's musculoskeletal system and requires recalibration. In contrast, active impedance control is less dependent on estimation of the user's attempted motion, thereby avoiding conflicts resulting from inaccurate estimation. In this paper we also introduce a new form of human assist based on improving the kinematic response of the limbs. Reduction of average muscle torques is a common goal of research in human assist. However, less emphasis has been placed so far on improving the user's agility of motion. We aim to use active impedance control to attain such effects as increasing the user's average speed of motion, and improving their acceleration capabilities in order to compensate for perturbations from the environment. en_US
dc.language English en_US
dc.publisher IEEE en_US
dc.relation.isbasedon en_US
dc.title Active-Impedance Control of a Lower-Limb Assistive Exoskeleton en_US
dc.parent Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics en_US
dc.journal.volume en_US
dc.journal.number en_US
dc.publocation USA en_US
dc.identifier.startpage 188 en_US
dc.identifier.endpage 195 en_US FEIT.Faculty of Engineering & Information Technology en_US
dc.conference Verified OK en_US
dc.for 100400 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 Medical Biotechnology en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom IEEE International Conference on Rehabilitation Robotics en_US 20070612 en_US
dc.location.activity The Netherlands en_US
dc.description.keywords Exoskeleton, lower limb, active impedance, assist. en_US

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