Variable admittance control for climbing stairs in human-powered exoskeleton systems

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dc.contributor.author Ahmed, A. I. A.
dc.contributor.author Cheng, H.
dc.contributor.author Lin, X.
dc.contributor.author Omer, M.
dc.contributor.author Juma, Mary A.
dc.date.accessioned 2022-01-13T09:12:10Z
dc.date.available 2022-01-13T09:12:10Z
dc.date.issued 2016
dc.identifier.citation Advances in Robotics & Automation, 5:3 en_US
dc.identifier.issn 2168-9695
dc.identifier.uri https://pdfs.semanticscholar.org/ddd5/5c67e86587968e1c7eef3a75bdc2ed826fff.pdf
dc.identifier.uri http://repository.seku.ac.ke/handle/123456789/6680
dc.description DOI: 10.4172/2168-9695.1000157 en_US
dc.description.abstract Online gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent navigation. Admittance Controller performs well on flat terrain walking in human-powered exoskeleton systems for acceleration and slowdown. We are the first who proposed Variable Admittance Controller (VAC) for smooth stair climbing control in Human-Powered Exoskeleton Systems. Trajectory correction technique transforms the interaction forces exerted on the exoskeleton from the pilot to appropriate intended joint flexion angles through dynamic viscoelastic models. We demonstrate the proposed control strategy on one degree-of-freedom (1-DOF) platform first, and then extend to the Human power Augmentation Lower Exoskeleton (HUALEX). The experimental results show that the proposed gait transition control strategy can minimize the interaction dynamics with less interaction force between the pilot and the exoskeleton compared to the traditional admittance controller. Compared to Ordinary Admittance Controller, the proposed VAC significantly improve the normalized Mean Squared Error (nMSE) of trajectory tracking from 2.751° to1.105°. en_US
dc.language.iso en en_US
dc.publisher Hilaris en_US
dc.subject Admittance control en_US
dc.subject Variable admittance en_US
dc.subject Gait transition en_US
dc.subject Interaction force en_US
dc.subject Coupled human-exoskeleton System en_US
dc.title Variable admittance control for climbing stairs in human-powered exoskeleton systems en_US
dc.type Article en_US


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