Synthesis of exoskeleton control algorithms based on kinematic analysis of locomotions and human gait modelling

Loskutov, Yury; Kapustin, Alexander; Kudryavtsev, Alexandr; Nasibullin, Albert; Lebedeva, Alexandra

doi:10.5937/jaes16-17230

Cited by 4 publications

(1 citation statement)

References 8 publications

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“…The Degree of Freedom 96 and gravity compensation 119 techniques are yet another constraint to be kept in mind in designing the exo-skeleton which may be classified as active and passive DOF and has a major significance with robot’s size and weight along with balancing factors. Kinematic 215 and Dynamic 216 analysis and building mathematical modelling help in developing the exo-skeleton to fulfill its purpose without deviation. A general control structure block diagram is depicted in Figure 19.…”

Section: Drives and Control Mechanisms Of An Exo-skeletonmentioning

confidence: 99%

Exo skeleton pertinence and control techniques: A state-of-the-art review

Rangan R,

Babu S

2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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Exo-Skeleton is a wearable robotic device which was emerged in later 1960s that has a multitude of applications ranging from weightlifting to wearer’s stability improvement. This paper makes a novel approach in reviewing the various exo-skeleton models that are available at the present. The idea of this paper is to study and compare the models in terms of medical applicability like gait rehabilitation, physiotherapy, human strength augmentation, various control strategies of exo-skeleton, ergonomic study, and need for exo-skeleton system for enhancing the life of humans. Since exo-skeletons are wearable devices, it requires precise controlling of the actuators and repeatability, and accuracy plays a vital role. The paper elucidated with a detailed analysis, reviewed and summarized the core essence of 300 research papers and patents in the field of exo-skeleton with the aforesaid aspects of application and drive system with their control methodologies from 2007 to 2022 and shown a trend with year-wise data from which it is clear that the future of industrial work will become a collaborative activity involving the exo-skeleton system with human labours. Human – robot interaction is vital and must for enabling an integration which can be achieved with the amelioration in the control and actuation techniques for precise control. With the furtherance in the technology the exo-skeletons can be purpose built that can be of rigid or flexible structures with active, passive, or quasi-passive controls based on the user needs. Joint handed operation of Exo-skeleton with the alternative treatment methodologies will yield a plethora of benefits in the near future in comparison with the present conventional treatment modes that could result in reduction of surgeries.

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Section: Drives and Control Mechanisms Of An Exo-skeletonmentioning

confidence: 99%