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

Lingzhou Yu; Harun Leto; Shaoping Bai

doi:10.3390/machines11090864

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

Lingzhou Yu, Harun Leto, Shaoping Bai^*

^*Corresponding author for this work

Research output: Contribution to journal › Journal article › Research › peer-review

9 Citations (Scopus)

66 Downloads (Pure)

Abstract

In the development of assistive lower-limb exoskeletons, both exoskeleton design, and gait control are critical for their successful applications. This paper introduces an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The development of the ALEXO including mechanical design, sensors and gait control is described. The exoskeleton adopts a hierarchical control. A 2-link model is built for dynamic analysis and lower-level control purposes. A trajectory tracking control method based on the computed torque control is proposed, in which physical interaction between the exoskeleton and the user is included. Simulations were conducted for different levels of interaction forces to verify the feasibility of the gait control. Moreover, walking trials of a healthy subject were performed, with muscle activities measured through EMG systems. Both simulation and system test results demonstrated the effectiveness of the developed exoskeleton with the proposed control method for walking assistance.

Original language	English
Article number	864
Journal	Machines
Volume	11
Issue number	9
DOIs	https://doi.org/10.3390/machines11090864
Publication status	Published - Sept 2023

Bibliographical note

This paper is an extended version of our paper published in Yu, L.; Leto, H.; D’elbreil, A.; et al. Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance. In Proceedings of the 8th International Workshop on New Trends in Medical and Service Robotics (MESROB 2023), Craiova, Romania, 7–10 June 2023; pp. 127–135.

Publisher Copyright:
© 2023 by the authors.

Keywords

active lower-limb exoskeleton
computed torque control
walking assistance

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Open Access articleFinal published version, 3.72 MBLicence: CC BY 4.0

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

abstract = "In the development of assistive lower-limb exoskeletons, both exoskeleton design, and gait control are critical for their successful applications. This paper introduces an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The development of the ALEXO including mechanical design, sensors and gait control is described. The exoskeleton adopts a hierarchical control. A 2-link model is built for dynamic analysis and lower-level control purposes. A trajectory tracking control method based on the computed torque control is proposed, in which physical interaction between the exoskeleton and the user is included. Simulations were conducted for different levels of interaction forces to verify the feasibility of the gait control. Moreover, walking trials of a healthy subject were performed, with muscle activities measured through EMG systems. Both simulation and system test results demonstrated the effectiveness of the developed exoskeleton with the proposed control method for walking assistance.",

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

note = "This paper is an extended version of our paper published in Yu, L.; Leto, H.; D{\textquoteright}elbreil, A.; et al. Design and Gait Control of an Active Lower Limb Exoskeleton for Walking Assistance. In Proceedings of the 8th International Workshop on New Trends in Medical and Service Robotics (MESROB 2023), Craiova, Romania, 7–10 June 2023; pp. 127–135. Publisher Copyright: {\textcopyright} 2023 by the authors.",

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doi = "10.3390/machines11090864",

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N2 - In the development of assistive lower-limb exoskeletons, both exoskeleton design, and gait control are critical for their successful applications. This paper introduces an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The development of the ALEXO including mechanical design, sensors and gait control is described. The exoskeleton adopts a hierarchical control. A 2-link model is built for dynamic analysis and lower-level control purposes. A trajectory tracking control method based on the computed torque control is proposed, in which physical interaction between the exoskeleton and the user is included. Simulations were conducted for different levels of interaction forces to verify the feasibility of the gait control. Moreover, walking trials of a healthy subject were performed, with muscle activities measured through EMG systems. Both simulation and system test results demonstrated the effectiveness of the developed exoskeleton with the proposed control method for walking assistance.

AB - In the development of assistive lower-limb exoskeletons, both exoskeleton design, and gait control are critical for their successful applications. This paper introduces an assistive lower-limb exoskeleton (ALEXO) for active walking assistance. The development of the ALEXO including mechanical design, sensors and gait control is described. The exoskeleton adopts a hierarchical control. A 2-link model is built for dynamic analysis and lower-level control purposes. A trajectory tracking control method based on the computed torque control is proposed, in which physical interaction between the exoskeleton and the user is included. Simulations were conducted for different levels of interaction forces to verify the feasibility of the gait control. Moreover, walking trials of a healthy subject were performed, with muscle activities measured through EMG systems. Both simulation and system test results demonstrated the effectiveness of the developed exoskeleton with the proposed control method for walking assistance.

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

Abstract

Bibliographical note

Keywords

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

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