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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

1 Citation (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.

Original language	English
Title of host publication	New Trends in Medical and Service Robotics - MESROB 2023
Editors	Daniela Tarnita, Nicolae Dumitru, Ionut Geonea, Doina Pisla, Giuseppe Carbone
Number of pages	9
Volume	11
Publisher	Springer
Publication date	28 Aug 2023
Edition	9
Pages	127-135
ISBN (Print)	978-3-031-32445-1
ISBN (Electronic)	978-3-031-32446-8
DOIs	https://doi.org/10.1007/978-3-031-32446-8_14
Publication status	Published - 28 Aug 2023
Event	New Trends in Medical and Service Robotics - Craiova, Romania Duration: 7 Jun 2023 → 10 Jun 2023

Conference

Conference	New Trends in Medical and Service Robotics
Country/Territory	Romania
City	Craiova
Period	07/06/2023 → 10/06/2023

Series	Mechanisms and Machine Science
Volume	133
ISSN	2211-0984

Keywords

active lower-limb exoskeleton
exoskeleton validation
trajectory tracking
walking gait

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

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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",

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

language = "English",

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

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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",

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Yu, L, Leto, H & Bai, S 2023, Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance. in D Tarnita, N Dumitru, I Geonea, D Pisla & G Carbone (eds), New Trends in Medical and Service Robotics - MESROB 2023. 9 edn, vol. 11, Springer, Mechanisms and Machine Science, vol. 133, pp. 127-135, New Trends in Medical and Service Robotics, Craiova, Romania, 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. ed. / Daniela Tarnita; Nicolae Dumitru; Ionut Geonea; Doina Pisla; Giuseppe Carbone. Vol. 11 9. ed. Springer, 2023. p. 127-135 (Mechanisms and Machine Science, Vol. 133).

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

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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.

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KW - exoskeleton validation

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KW - walking gait

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SN - 978-3-031-32445-1

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T3 - Mechanisms and Machine Science

SP - 127

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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

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

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