WPAL for Human Power Assist during Walking Using Pseudo-compliance Control

Feng, Chen; Yu, Yong; Ge, Yaojun; Sun, Jian; Deng, Xingming

doi:10.1109/icma.2007.4303888

Cited by 7 publications

(2 citation statements)

References 15 publications

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“…Lastly, wheelchair users may feel they are looked down on by other people around because the height of the eyes of the user tends to be lower than that of the healthy people [1].Other kinds of locomotion device such as exoskeleton robot can overcome the problems mentioned above. In our study, we focus on developing the Wearable Power Assist Leg (WPAL) [2][3][4] to help the elderly and disabled persons to amplify the strength and endurance of the low limbs during walking. The WPAL has wide and potential applications, which can be utilized for care-worker, nurse, solider, fireman, and also for person with disordered gait.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis and control strategy of the Wearable Power Assist Leg

Fang

Chen

et al. 2008

2008 IEEE International Conference on Automation and Logistics

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The Wearable Power Assist Leg (WPAL) has been developed with the goal of decreasing human inner force / increasing human strength during walking in daily life for special groups, such as the old and the disabled. This paper summarizes the mechanical design using Ergonomics and analyses the dynamic characteristic of the exoskeleton robot considering the friction impact of the joints. According to the model of human muscle-bone, a control strategy mainly based on the humanrobot interaction force between the exoskeleton and human leg is proposed. The WPAL is expected to have significant effect on many applications during activities of daily life. Correlative experiment apparatus and results are also covered at last.

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Section: Introductionmentioning

confidence: 99%

Dynamic analysis and control strategy of the Wearable Power Assist Leg

Fang

Chen

et al. 2008

2008 IEEE International Conference on Automation and Logistics

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“…Equation (41) shows a key control strategy based on interactive force, which is called pseudo-compliance control method Chen et al, 2007). It can estimate the next time velocity of end-effector according to instant angular speed of end-effector and instant interactive force.…”

Section: Pseudo-compliance Control Strategymentioning

confidence: 99%

A parallel mechanism and a control strategy based on interactive force using on hip joint power assist

Tao

2014

IJMA

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Abstract:In this paper, hip joint power assist (HJPA) system is given to offer assistive power to human hip joint. This paper introduces a parallel assisting mechanism and a control strategy based on interactive force between human thigh and the HJPA exoskeleton, and pseudo-compliance control. Different from conventional assisting systems, the assisting mechanism is a 3UPS parallel mechanism which can give its assist to all degrees of freedom (DOFs) of hip joint within its joint workspace. To verify the effectiveness of the parallel mechanism and the control strategy, an experimental platform is constructed, and some correlative experiments have been made. The experimental results show that the proposed HJPA system can work effectively to offer assistive effect to wearers.

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Systematic Review on Wearable Lower Extremity Robotic Exoskeletons for Assisted Locomotion

et al. 2022

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Lower extremity robotic exoskeletons (LEEX) can not only improve the ability of the human body but also provide healing treatment for people with lower extremity dysfunction. There are a wide range of application needs and development prospects in the military, industry, medical treatment, consumption and other fields, which has aroused widespread concern in society. This paper attempts to review LEEX technical development. First, the history of LEEX is briefly traced. Second, based on existing research, LEEX is classified according to auxiliary body parts, structural forms, functions and fields, and typical LEEX prototypes and products are introduced. Then, the latest key technologies are analyzed and summarized, and the research contents, such as bionic structure and driving characteristics, human–robot interaction (HRI) and intent-awareness, intelligent control strategy, and evaluation method of power-assisted walking efficiency, are described in detail. Finally, existing LEEX problems and challenges are analyzed, a future development trend is proposed, and a multidisciplinary development direction of the key technology is provided.

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WPAL for Human Power Assist during Walking Using Pseudo-compliance Control

Cited by 7 publications

References 15 publications

Dynamic analysis and control strategy of the Wearable Power Assist Leg

Dynamic analysis and control strategy of the Wearable Power Assist Leg

A parallel mechanism and a control strategy based on interactive force using on hip joint power assist

Systematic Review on Wearable Lower Extremity Robotic Exoskeletons for Assisted Locomotion

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