Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

Lingzhou Yu; Harun Leto; Shaoping Bai

doi:10.1007/978-3-031-32446-8_14

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

Lingzhou Yu, Harun Leto, Shaoping Bai

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

1 Citationer (Scopus)

Abstract

This paper presents an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The mechatronics design covering mechanical design, sensors selection and motor controllers are introduced. A 2-link model is built for dynamic analysis control purposes, upon which a trajectory tracking control method based on an improved computed torque control is proposed. This control method was tested with sensor data acquired from walking trials of a healthy subject, which validated the design and gait control of this exoskeleton.

Originalsprog	Engelsk
Titel	New Trends in Medical and Service Robotics - MESROB 2023
Redaktører	Daniela Tarnita, Nicolae Dumitru, Ionut Geonea, Doina Pisla, Giuseppe Carbone
Antal sider	9
Vol/bind	11
Forlag	Springer
Publikationsdato	28 aug. 2023
Udgave	9
Sider	127-135
ISBN (Trykt)	978-3-031-32445-1
ISBN (Elektronisk)	978-3-031-32446-8
DOI	https://doi.org/10.1007/978-3-031-32446-8_14
Status	Udgivet - 28 aug. 2023
Begivenhed	New Trends in Medical and Service Robotics - Craiova, Rumænien Varighed: 7 jun. 2023 → 10 jun. 2023

Konference

Konference	New Trends in Medical and Service Robotics
Land/Område	Rumænien
By	Craiova
Periode	07/06/2023 → 10/06/2023

Navn	Mechanisms and Machine Science
Vol/bind	133
ISSN	2211-0984

Adgang til dokumentet

10.1007/978-3-031-32446-8_14

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

Andre filer og links

Link to publication in Scopus

1 Citationer
1 Tidsskriftartikel

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance
Yu, L., Leto, H. & Bai, S., sep. 2023, I: Machines. 11, 9, 864.
Publikation: Bidrag til tidsskrift › Tidsskriftartikel › Forskning › peer review

Åben adgang
Fil
9 Citationer (Scopus)

75 Downloads (Pure)

Citationsformater

@inproceedings{d87c8eb057de499d833c021a38159d6d,

title = "Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance",

abstract = "This paper presents an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The mechatronics design covering mechanical design, sensors selection and motor controllers are introduced. A 2-link model is built for dynamic analysis control purposes, upon which a trajectory tracking control method based on an improved computed torque control is proposed. This control method was tested with sensor data acquired from walking trials of a healthy subject, which validated the design and gait control of this exoskeleton.",

keywords = "active lower-limb exoskeleton, exoskeleton validation, trajectory tracking, walking gait",

author = "Lingzhou Yu and Harun Leto and Shaoping Bai",

year = "2023",

month = aug,

day = "28",

doi = "10.1007/978-3-031-32446-8_14",

language = "English",

isbn = "978-3-031-32445-1",

volume = "11",

series = "Mechanisms and Machine Science",

publisher = "Springer",

pages = "127--135",

editor = "Daniela Tarnita and Nicolae Dumitru and Ionut Geonea and Doina Pisla and Giuseppe Carbone",

booktitle = "New Trends in Medical and Service Robotics - MESROB 2023",

address = "Germany",

edition = "9",

note = "New Trends in Medical and Service Robotics ; Conference date: 07-06-2023 Through 10-06-2023",

}

Yu, L, Leto, H & Bai, S 2023, Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance. i D Tarnita, N Dumitru, I Geonea, D Pisla & G Carbone (red), New Trends in Medical and Service Robotics - MESROB 2023. 9 udg, bind 11, Springer, Mechanisms and Machine Science, bind 133, s. 127-135, New Trends in Medical and Service Robotics, Craiova, Rumænien, 07/06/2023. https://doi.org/10.1007/978-3-031-32446-8_14

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance. / Yu, Lingzhou; Leto, Harun; Bai, Shaoping.
New Trends in Medical and Service Robotics - MESROB 2023. red. / Daniela Tarnita; Nicolae Dumitru; Ionut Geonea; Doina Pisla; Giuseppe Carbone. Bind 11 9. udg. Springer, 2023. s. 127-135 (Mechanisms and Machine Science, Bind 133).

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

TY - GEN

T1 - Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

AU - Yu, Lingzhou

AU - Leto, Harun

AU - Bai, Shaoping

PY - 2023/8/28

Y1 - 2023/8/28

N2 - This paper presents an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The mechatronics design covering mechanical design, sensors selection and motor controllers are introduced. A 2-link model is built for dynamic analysis control purposes, upon which a trajectory tracking control method based on an improved computed torque control is proposed. This control method was tested with sensor data acquired from walking trials of a healthy subject, which validated the design and gait control of this exoskeleton.

AB - This paper presents an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The mechatronics design covering mechanical design, sensors selection and motor controllers are introduced. A 2-link model is built for dynamic analysis control purposes, upon which a trajectory tracking control method based on an improved computed torque control is proposed. This control method was tested with sensor data acquired from walking trials of a healthy subject, which validated the design and gait control of this exoskeleton.

KW - active lower-limb exoskeleton

KW - exoskeleton validation

KW - trajectory tracking

KW - walking gait

UR - http://www.scopus.com/inward/record.url?scp=85161232164&partnerID=8YFLogxK

U2 - 10.1007/978-3-031-32446-8_14

DO - 10.1007/978-3-031-32446-8_14

M3 - Article in proceeding

SN - 978-3-031-32445-1

VL - 11

T3 - Mechanisms and Machine Science

SP - 127

EP - 135

BT - New Trends in Medical and Service Robotics - MESROB 2023

A2 - Tarnita, Daniela

A2 - Dumitru, Nicolae

A2 - Geonea, Ionut

A2 - Pisla, Doina

A2 - Carbone, Giuseppe

PB - Springer

T2 - New Trends in Medical and Service Robotics

Y2 - 7 June 2023 through 10 June 2023

ER -

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

Abstract

Konference

Adgang til dokumentet

AUB Link

Andre filer og links

Fingeraftryk

Publikation

Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance

Citationsformater