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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Bibliographic Details

Published in:	IEEE robotics and automation letters Vol. 5; no. 1; pp. 266 - 273
Main Authors:	Gurriet, Thomas, Tucker, Maegan, Duburcq, Alexis, Boeris, Guilhem, Ames, Aaron D.
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.01.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	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 Access:	Get full text
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