標題: Design of Assistive Torque for a Lower Limb Exoskeleton Based on Motion Prediction
作者: Susanto
Analia, Riska
Song, Kai-Tai
電控工程研究所
Institute of Electrical and Control Engineering
關鍵字: Exoskeleton;Artificial Neural Network;Walking gait;Gait motion prediction
公開日期: 2016
摘要: This paper presents a method to generate assistive torque to a lower limb exoskeleton using a predictive approach. A control scheme is proposed to predict the suitable force of next movement of legs using gait information. By using human walking gait cycle and Center of Pressure (CoP), it is expected that the exoskeleton can provide an assistive force to people and help them to walk normally. In order to predict the next movement for assistive torque given by exoskeleton to the human, a predictive Artificial Neural Network (pANN) is developed. A prototype lower limb exoskeleton has been designed and constructed for experimental study. The controller is implemented by using LabVIEW programming. The experimental results verified that the proposed controller can provide proper assistive torques to hip and knee joints for both legs while wearing the exoskeleton.
URI: http://hdl.handle.net/11536/134665
ISBN: 978-4-9077-6450-0
期刊: 2016 55TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)
起始頁: 172
結束頁: 177
顯示於類別:會議論文