Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton

P.G. Van Lenthe, S. Verros, E.E.G. Hekman, Raffaella Carloni, H.F.J.M. Koopman

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    1 Citation (Scopus)
    2 Downloads (Pure)

    Abstract

    Duchenne muscular dystrophy leaves patients with severe dependency on health care. In an effort to increase independence and quality of life, active exoskeletons are developed to support activities of daily living. This study is dedicated to the development and assessment of three different admittance control algorithms for a trunk supporting robot; a law with constant parameters, a law with added feed-forward force, and a law with variable parameters. A Fitts'-like experiment with 12 healthy subjects was performed to compare the control laws. The results show decreased movement times for the feedforward and variable admittance controllers with respect to the standard admittance.
    Original languageEnglish
    Title of host publication2018 IEEE International Conference on Robotics and Automation (ICRA)
    PublisherIEEE
    ISBN (Electronic)978-1-5386-3081-5
    ISBN (Print)978-1-5386-3082-2
    DOIs
    Publication statusPublished - 2018
    Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
    Duration: 21 May 201825 May 2018
    https://icra2018.org/

    Conference

    Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
    Abbreviated titleICRA
    CountryAustralia
    CityBrisbane
    Period21/05/1825/05/18
    Internet address

    Keywords

    • Biomechatronics

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  • Cite this

    Van Lenthe, P. G., Verros, S., Hekman, E. E. G., Carloni, R., & Koopman, H. F. J. M. (2018). Comparing Assistive Admittance Control Algorithms for a Trunk Supporting Exoskeleton. In 2018 IEEE International Conference on Robotics and Automation (ICRA) IEEE. https://doi.org/10.1109/ICRA.2018.8461062