A one-degree-of-freedom assistive exoskeleton with inertia compensation: the effects on the agility of leg swing motion
- Тип контента: Научная статья
- Номер документа: 7561
- Название документа: A one-degree-of-freedom assistive exoskeleton with inertia compensation: the effects on the agility of leg swing motion
- Номер (DOI, IBSN, Патент): 10.1243/09544119JEIM854
- Изобретатель/автор: G Aguirre-Ollinger, J E Colgate, M A Peshkin, A Goswami
- Правопреемник/учебное заведение: Department of Mechanical Engineering, Northwestern University, Honda Research Institute, Mountain View
- Дата публикации документа: 2010-08-27
- Страна опубликовавшая документ: США
- Язык документа: Английский
- Наименование изделия: Не заполнено
- Источник: J. Engineering in Medicine
- Вложения: Да
- Аналитик: Глаголева Елена
Many of the current implementations of exoskeletons for the lower extremities are conceived to either augment the user’s load-carrying capabilities or reduce muscle activa-tion during walking. Comparatively little research has been conducted on enabling an exoskeleton to increase the agility of lower-limb movements. One obstacle in this regard is the inertia of the exoskele-ton’s mechanism, which tends to reduce the natural frequency of the human limbs. A control method is presented that produces an approximate compensation of the inertia of an exoskeleton’s mechanism. The con-troller was tested on a statically mounted, single-degree-offreedom (DOF) exoskeleton that assists knee flexion and extension. Test subjects performed multiple series of leg-swing movements in the context of a computer-based, sprint-like task. A large initial acceleration of the leg was needed for the subjects to track a virtual target on a computer screen. The uncompensated inertia of the exoskeleton mechanism slowed down the transient response of the subjects’ limb, in comparison with trials performed without the exoske-leton. The subsequent use of emulated inertia compensation on the exoskeleton allowed the subjects to improve their transient response for the same task.
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