Advanced Robotics, ( ISI ), Volume (30), No (13), Year (2016-4) , Pages (846-860)

Title : ( Trajectory generation and control of a knee exoskeleton based on dynamic movement primitives for sit-to-stand assistance )

Authors: Kaveh Kamali , Ali Akbar Akbari , Alireza Akbarzadeh Tootoonchi ,

Citation: BibTeX | EndNote

This paper presents a novel control approach for a knee exoskeleton to assist individuals with lower extremity weakness during sit-to-stand motion. The proposed method consists of a trajectory generator and an impedance controller. The trajectory generator uses a library of sample trajectories as the training data and the initial joint angles as the input to predict the user’s intended sit-to-stand trajectory. Utilizing the dynamic movement primitives theory, the trajectory generator represents the predicted trajectory in a time-normalized and rather a flexible framework. The impedance controller is then employed to provide assistance by guiding the knee joint to move along the predicted trajectory. Moreover, the human-exoskeleton interaction force is used as the feedback for on-line adaptation of the trajectory speed. The proposed control strategy was tested on a healthy adult who wore the knee exoskeleton on his leg. The subject was asked to perform a number of sit-to-stand movements from different sitting positions. Next, the measured data and the inverse dynamic model of the human-exoskeleton system are used to calculate the knee power and torque profiles. The results reveal that average muscle activity decreases when the subject is assisted by the exoskeleton.

Keywords

, Exoskeleton, dynamic movement primitives, assistive control,
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@article{paperid:1059682,
author = {Kamali, Kaveh and Akbari, Ali Akbar and Akbarzadeh Tootoonchi, Alireza},
title = {Trajectory generation and control of a knee exoskeleton based on dynamic movement primitives for sit-to-stand assistance},
journal = {Advanced Robotics},
year = {2016},
volume = {30},
number = {13},
month = {April},
issn = {0169-1864},
pages = {846--860},
numpages = {14},
keywords = {Exoskeleton; dynamic movement primitives; assistive control; sit-to-stand},
}

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%0 Journal Article
%T Trajectory generation and control of a knee exoskeleton based on dynamic movement primitives for sit-to-stand assistance
%A Kamali, Kaveh
%A Akbari, Ali Akbar
%A Akbarzadeh Tootoonchi, Alireza
%J Advanced Robotics
%@ 0169-1864
%D 2016

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