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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Vydané v:	IEEE robotics and automation letters Ročník 5; číslo 1; s. 266 - 273
Hlavní autori:	Gurriet, Thomas, Tucker, Maegan, Duburcq, Alexis, Boeris, Guilhem, Ames, Aaron D.
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Piscataway IEEE 01.01.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	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
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