Abstract
In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which mostly rely on lumped human-robot models, the proposed concept makes use of the independent state measurements concerning the human user and the robot. The ability to observe the human state independently is the key factor in this approach. In order to realize such a system from the hardware point of view, we propose a system integration frame that combines a soft suit for human state measurement and a rigid exoskeleton for human assistance. We identify the technological requirements that are necessary for the realization of such a system with a particular emphasis on soft suit integration. We also propose a template model, named scissor pendulum, that may encapsulate the dominant dynamics of the human-robot combined model to synthesize a controller for human state regulation. A series of simulation experiments were conducted to check the controller performance. As a result, satisfactory human state regulation was attained, adequately confirming that the proposed system could potentially improve exoskeleton-aided applications.
Original language | English |
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Title of host publication | 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019 |
Publisher | IEEE Computer Society |
Pages | 518-523 |
Number of pages | 6 |
ISBN (Electronic) | 9781728127552 |
DOIs | |
Publication status | Published - Jun 2019 |
Externally published | Yes |
Event | 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 - Toronto, Canada Duration: 24 Jun 2019 → 28 Jun 2019 |
Publication series
Name | IEEE International Conference on Rehabilitation Robotics |
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Volume | 2019-June |
ISSN (Print) | 1945-7898 |
ISSN (Electronic) | 1945-7901 |
Conference
Conference | 16th IEEE International Conference on Rehabilitation Robotics, ICORR 2019 |
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Country/Territory | Canada |
City | Toronto |
Period | 24/06/19 → 28/06/19 |
Bibliographical note
Publisher Copyright:© 2019 IEEE.