標題: | Sensorless Assistive Torque Design for a Lower Extremity Exoskeleton |
作者: | Song, Kai-Tai Liao, Yun-Chih Jian, You-Lin 電控工程研究所 Institute of Electrical and Control Engineering |
關鍵字: | Assistive robot;exoskeleton;rehabilitation robots |
公開日期: | 2014 |
摘要: | For improving mobility of the elderly, it is desirable to use a lower limb exoskeleton to enhance strength and endurance for their daily life activities. This paper presents a novel design of assist torque generation and compliant motion of a knee joint for an exoskeleton robot. Based on a sensorless approach, a method is suggested to estimate the external torque and generate the assistance torque of the attached DC motor. The developed lower limb exoskeleton joint provides assistive torque in order to comply with motion of the user. In comparison with existing lower limb exoskeletons, the proposed exoskeleton robot can execute various training programs by adjusting the assisting torque with less sensors and reduced hardware complexity. Experimental results on a knee exoskeleton validate the proposed method. Desirable assistive torque can be generated to be compliant with a swing motion. |
URI: | http://hdl.handle.net/11536/135281 |
ISBN: | 978-89-93215-06-9 |
ISSN: | 2093-7121 |
期刊: | 2014 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2014) |
起始頁: | 793 |
結束頁: | 797 |
顯示於類別: | 會議論文 |