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
通讯作者:AlShuka, HFN
作者机构:[Al-Shuka, Hayder F. N.; Song, Rui; Ding, Chao] Shandong Univ, Sch Control Sci & Engn, Jinan, Shandong, Peoples R China.
会议名称:10th International Conference on Advanced Computational Intelligence (ICACI)
会议日期:MAR 29-31, 2018
来源:PROCEEDINGS OF 2018 TENTH INTERNATIONAL CONFERENCE ON ADVANCED COMPUTATIONAL INTELLIGENCE (ICACI)
出版年:2018
页码:169-174
关键词:High-level control; human-robot interaction; electromyography; human; intention
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 power augmentation lower extremity exoskeletons.
收录类别:CPCI-S
资源类型:会议论文
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