Preliminary assessment of the efficacy of supplementing knee extension capability in a lower limb exoskeleton with FES.
Preliminary assessment of the efficacy of supplementing knee extension capability in a lower limb exoskeleton with FES.
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DOI：
10.1109/embc.2012.6346685
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Goldfarb M
中科院分区：
文献类型：
--
作者：
Quintero HA;Farris RJ;Ha K;Goldfarb M
作者描述了一种协作控制器，它结合了外部动力的下肢外骨骼的膝关节驱动和来自电刺激的股四头肌肌群的扭矩和功率贡献。结合这些努力的有效性通过一系列负重腿部抬起动作进行了实验验证。这些实验的测量表明，该控制方法有效地结合了电机和肌肉各自的努力，从而获得了良好的控制性能，生物和非生物执行器都有相当大的扭矩和能量贡献。
The authors describe a cooperative controller that combines the knee joint actuation of an externally powered lower limb exoskeleton with the torque and power contribution from the electrically stimulated quadriceps muscle group. The efficacy of combining these efforts is experimentally validated with a series of weighted leg lift maneuvers. Measurements from these experiments indicate that the control approach effectively combines the respective efforts of the motor and muscle, such that good control performance is achieved, with substantial torque and energy contributions from both the biological and non-biological actuators.