TY - GEN
T1 - Design for walking rehabilitation of a lower limb exoskeleton based on interaction torque
AU - Lesmana, Agus
AU - Song, Kai-Tai
PY - 2017/12/13
Y1 - 2017/12/13
N2 - In this research, an adaptive lower limb exoskeleton (AEXO) has been designed and constructed as a rehabilitation device. It is important during the rehabilitation that a user obtains assistance from the exoskeleton in an adaptive manner, as the user may improve his/her walking during rehabilitation. The assistance from the machine will be less or more according to the current situation of the user during the use of the exoskeleton. The question then arises as to how the exoskeleton can provide adaptive adjustment. It was decided that a tangible design was to measure the user status such as the user interaction force during walking. In this design, force sensors are installed on each link of exoskeleton to record the user walking effort during walking. By measuring this force, the control computer of the exoskeleton will understand for each cycle what the status of the user is and predict an adaptive torque according to measured force. In order to generate a suitable torque, the compliant motion control, which is a combination of impedance and admittance control is used. Walking experiments of a healthy person to wear the AEXO have been carried out in the lab. The first experiment verified the propose algorithm by using a predefined reference trajectory for the user and giving an adjustment to the reference trajectory based on the interaction torque. The second experiment verified that even without the predefined gait trajectory to the user, the exoskeleton can move in compliance to the user under various walking speeds. For the future development, the method will be expanded and tested for people who suffer from stroke or other walking impairment.
AB - In this research, an adaptive lower limb exoskeleton (AEXO) has been designed and constructed as a rehabilitation device. It is important during the rehabilitation that a user obtains assistance from the exoskeleton in an adaptive manner, as the user may improve his/her walking during rehabilitation. The assistance from the machine will be less or more according to the current situation of the user during the use of the exoskeleton. The question then arises as to how the exoskeleton can provide adaptive adjustment. It was decided that a tangible design was to measure the user status such as the user interaction force during walking. In this design, force sensors are installed on each link of exoskeleton to record the user walking effort during walking. By measuring this force, the control computer of the exoskeleton will understand for each cycle what the status of the user is and predict an adaptive torque according to measured force. In order to generate a suitable torque, the compliant motion control, which is a combination of impedance and admittance control is used. Walking experiments of a healthy person to wear the AEXO have been carried out in the lab. The first experiment verified the propose algorithm by using a predefined reference trajectory for the user and giving an adjustment to the reference trajectory based on the interaction torque. The second experiment verified that even without the predefined gait trajectory to the user, the exoskeleton can move in compliance to the user under various walking speeds. For the future development, the method will be expanded and tested for people who suffer from stroke or other walking impairment.
KW - Compliant Motion Control
KW - Exoskeleton Control
KW - Human Machine Interaction
UR - http://www.scopus.com/inward/record.url?scp=85044454951&partnerID=8YFLogxK
U2 - 10.23919/ICCAS.2017.8204316
DO - 10.23919/ICCAS.2017.8204316
M3 - Conference contribution
AN - SCOPUS:85044454951
T3 - International Conference on Control, Automation and Systems
SP - 685
EP - 690
BT - ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings
PB - IEEE Computer Society
Y2 - 18 October 2017 through 21 October 2017
ER -