Design and Performance Evaluation of a Wearable Sensing System for Lower-Limb Exoskeleton

Abstract

Because the target users of the assistive-type lower extremity exoskeletons (ASLEEs) are those who suffer from lower limb disabilities, customized gait is adopted for the control of ASLEEs. However, the customized gait is unable to provide stable motion for variable terrain, for example, flat, uphill, downhill, and soft ground. The purpose of this paper is to realize gait detection and environment feature recognition for AIDER by developing a novel wearable sensing system. The wearable sensing system employs 7 force sensors as a sensing matrix to achieve high accuracy of ground reaction force detection. There is one more IMU sensor that is integrated into the structure to detect the angular velocity. By fusing force and angular velocity data, four typical terrain features can be recognized successfully, and the recognition rate can reach up to 93%.

Sensors and Actuation Technologies in Exoskeletons: A Review

“…Trunk A1. Electric Actuation A1.a DC [ 106 ]; [ 118 ]; [ 170 ]; [ 217 ]; [ 138 ]; [ 119 ]; [ 154 ]; [ 25 ]; [ 59 ]; [ 131 ]; [ 141 ]; [ 244 ]; [ 219 ]; [ 79 ]; [ 180 ]; [ 182 ]; [ 184 ]; [ 221 ]; [ 186 ]; [ 223 ]; [ 194 ]; [ 241 ]; [ 124 ]; [ 137 ]; [ 136 ]; [ 227 ]; [ 151 ] ; [ 240 ] ; [ 89 ]; [ 200 ]; [ 232 ]; [ 101 ]; [ 78 ]; [ 233 ]; [ 145 ]; [ 143 ]; [ …”

“…Haptic A1. Electric Actuation A1.a DC [ 206 ]; [ 51 ]; [ 106 ]; [ 180 ]; [ 118 ]; [ 209 ]; [ 182 ]; [ 184 ]; [ 186 ]; [ 210 ]; [ 193 ]; [ 194 ]; [ 139 ]; [ 52 ]; [ 200 ]; [ 119 ]; [ 67 ]; [ 25 ]; [ 157 ] ; [ 160 ]; [ 61 ]; [ 101 ]; [ 131 ]; [ 121 ]; [ 133 ]; [ 213 ]; [ 141 ]; [ 150 ]; [ 61 ]; [ 219 ]; [ 107 ] ; [ 236 ]; [ 237 ]; [ 184 ]; [ 221 ]; [ 186 ]; [ 223 …”

“…Encoders S2.a Pressure S2.b Torque S2.c Force S2.d IMU A1. Electric A1.a DC [ 106 ]; [ 107 ]; [ 186 ]; [ 137 ]; [ 240 ]; [ 89 ]; [ 126 ]; [ 118 ]; [ 223 ]; [ 240 ]; [ 78 ]; [ 126 ]; [ 194 ]; [ 200 ]; [ 232 ]; [ 157 ]; [ 53 ]; [ 213 ]; [ 244 ]; [ 150 ]; [ 127 ]; [ 123 ]; [ 180 ]; [ 184 ]; [ 221 ]; [ 186 ]; [ 200 ]; …”

Modeling and Evaluation of Adaptive Super Twisting Sliding Mode Control in Lower Extremity Exoskeleton

“…Design of an adaptive super twisting algorithm to control the angular motion of the lower extremity exoskeleton with the wearer by referring [29][30][31][32][33][34][35][36] is presented in this section. To ensure the convergence of the angular positions defined by joint angles, hip ( 1 ), knee ( 2 ) and ankle ( 3) to the desired trajectories θ(t) 1 Wearer Model , θ(t) 2 Wearer Model , and θ(t) 3 Wearer Model , respectively which are considered to be bounded, is the objective of the designed controller.…”

“…The actual angular motion of the six joints of the wearer for one gait cycle is generated with the software ADAMS. In real time systems it is measured through appropriate sensors [31].…”