On the Design and Control of Highly backdrivable lower-limb exoskeletons
On the Design and Control of Highly backdrivable lower-limb exoskeletons
复制标题
高度可反向驱动下肢外骨骼的设计与控制
DOI：
10.1310/jb16-v04f-jal5-h1uv
复制
发表时间：
2018
影响因子：
2.2
通讯作者：
R. Gregg
中科院分区：
文献类型：
--
作者：
Ge Lv;Hanqi Zhu;R. Gregg
Lower-limb exoskeletons are external mechanical structures that support and assist human 2 users during locomotion. The earliest studies on exoskeletons date back to the 1960s, whereas over the previous decade, research on powered lower-limb exoskeletons has substantially 4 expanded [1]. Exoskeletons with different architectures have been developed to achieve different goals. Typically, lower-limb exoskeletons can be classified into two broad categories based 6 on their intended use: assisting people who have pathological gaits and augmenting ablebodied users. The first type of exoskeleton is designed to provide assistance to individuals 8 with neurological conditions, for example, stroke or spinal cord injury (SCI). With the help of an exoskeleton, these people can complete different tasks that they cannot complete on their 10 own. For example, the bilateral hip-knee exoskeletons ReWalk [2] and Ekso Bionics [3] enforce pre-defined reference trajectories determined by a finite-state-machine (FSM) structure to assist 12 individuals with SCI. The bilateral Wandercraft exoskeleton adopts a hybrid dynamics-based controller to stabilize dynamically feasible periodic gaits for users with SCI while allowing 14 them to actively control the exoskeleton speed through upper body posture [4]. The second type of exoskeleton is mainly used by able-bodied users for carrying heavy 16 gear and operating cumbersome tools. The majority of these devices transmit force to the ground while tracking a desired reference torque. The Berkeley Lower Extremity Exoskeleton (BLEEX) 18 allows soldiers to carry heavy loads by using its actuators to minimize the interaction forces between the device and the user [5]. The Sarcos-Raytheon “XOS” exoskeleton and the Human 20 Universal Load Carrier (HULC) exoskeletons are also military-based devices aimed at soldier performance enhancement [1]. The soft exosuits presented in [6] can reduce the net metabolic rate 22 for able-bodied subjects during walking by generating assistance through an off-board actuation system and Bowden cables. With advancements in hardware and micro-controller design, an 24 increasing number of complex control algorithms are being realized in practice to promote the rapid development of powered lower-limb exoskeletons. 26
