Towards Variable Assistance for Lower Body Exoskeletons

This letter presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates t...

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Veröffentlicht in:	IEEE robotics and automation letters Jg. 5; H. 1; S. 266 - 273
Hauptverfasser:	Gurriet, Thomas, Tucker, Maegan, Duburcq, Alexis, Boeris, Guilhem, Ames, Aaron D.
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Piscataway IEEE 01.01.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Assistive devices control architectures and programming Control methods Exoskeletons Feedback Gait Leg Legged locomotion Perturbation physically assistive devices Prosthetics Prosthetics and exoskeletons Safety critical Tubes
ISSN:	2377-3766, 2377-3766
Online-Zugang:	Volltext
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