Actively controlled lateral gait assistance in a lower limb exoskeleton

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    49 Citations (Scopus)

    Abstract

    Various powered wearable lower limb exoskeletons are designed for paraplegics to make them walk again. Control methods are developed and implemented in these exoskeletons to provide active gait assistance in the sagittal plane while active control in the frontal plane is still missing. This paper proposed a control method that provided gait assistance in both lateral and sagittal plane. First, in the lateral plane, the exoskeleton was controlled to support the weight shift during stepping by providing assisting hip ab/adduction torques when the subject initiated a small amount of weight shift to the stance side to trigger a step. Second, the exoskeleton's hip ab/adduction during stepping was controlled to improve lateral stability. This was achieved by altering the amount of hip ab/adduction to change step width at heel strike. Using these controls, an able-bodied subject could walk in the exoskeleton without any external balance aids, i.e. crutches or a walker, where his hip and knee joints were controlled by the exoskeleton and his ankle joints were constrained by the exoskeleton. The next step is to test whether the proposed method improves balance in spinal cord injured subjects.
    Original languageEnglish
    Title of host publication2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationPiscataway, NJ
    PublisherIEEE
    Pages965-970
    Number of pages6
    ISBN (Electronic)978-1-4673-6358-7
    DOIs
    Publication statusPublished - 3 Nov 2013
    Event2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 - Tokyo, Japan
    Duration: 3 Nov 20137 Nov 2013
    http://ewh.ieee.org/soc/ras/conf/CoSponsored/IROS/2013/www.iros2013.org/index.html

    Publication series

    NameIEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Volume2013
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Conference

    Conference2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013
    Abbreviated titleIROS
    CountryJapan
    CityTokyo
    Period3/11/137/11/13
    Internet address

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  • Cite this

    Wang, L., Wang, S., van Asseldonk, E. H. F., & van der Kooij, H. (2013). Actively controlled lateral gait assistance in a lower limb exoskeleton. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 965-970). (IEEE/RSJ International Conference on Intelligent Robots and Systems; Vol. 2013). Piscataway, NJ: IEEE. https://doi.org/10.1109/IROS.2013.6696467