标题:On high-level control of power-augmentation lower extremity exoskeletons: Human walking intention
作者:Al-Shuka, Hayder F. N. ;Song, Rui ;Ding, Chao
作者机构:[Al-Shuka, Hayder F. N. ;Song, Rui ;Ding, Chao ] School of Control Science and Engineering, Shandong University, Jinan, China
会议名称:10th International Conference on Advanced Computational Intelligence, ICACI 2018
会议日期:29 March 2018 through 31 March 2018
来源:Proceedings - 2018 10th International Conference on Advanced Computational Intelligence, ICACI 2018
出版年:2018
页码:169-174
DOI:10.1109/ICACI.2018.8377601
关键词:Electromyography; High-level control; Human intention; Human-robot interaction
摘要:Lower extremity exoskeleton is a powerful tool for power augmentation of the user. In general, three control levels can be designed for motion stabilization of human-robot interaction: high-level control represented by human walking intention, mid-level control for regulation of switching periods of walking phases, and low-level control for motion tracking and stabilization purposes. Three important points should be considered while designing the control architecture: (1) determination of the power assist rate required for empowering the user, (2) minimization of the interaction force wrench at the attachment locations, and (3) regulation of switching periods of the walking phases. To end this, the user's joint torques and/or his/her position are often required to be measured/estimated. There are different techniques used for extracting and capturing the user intention such as electromyography technique, measurement of global kinematic parameters, and the use of force/torque sensors at the physical interaction interfaces. Accordingly, this paper introduces a systematic overview of capturing user-walking intention with focus on poweraugmentation lower extremity exoskeletons. © 2018 IEEE.
收录类别:EI;SCOPUS
资源类型:会议论文;期刊论文
原文链接:https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049788329&doi=10.1109%2fICACI.2018.8377601&partnerID=40&md5=6b1cab4b00c529f3679bbe46f206f96c
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