A generalized control framework of assistive controllers for lower limb exoskeletons

Eunyoung Baek; Seok Ki Song; Sehoon Oh; Samer Mohammed; Doyoung Jeon; Kyoungchul Kong

doi:10.1109/ICRA.2014.6907051

A generalized control framework of assistive controllers for lower limb exoskeletons

Eunyoung Baek, Seok Ki Song, Sehoon Oh, Samer Mohammed, Doyoung Jeon, Kyoungchul Kong

Department of Robotics and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

A number of control methodologies have been studied for assistive robotic technologies. Since the human motions in a daily life consist of multiple phases, such as walking, sitting and standing, controllers for assistive robots are required to be able to cope with different motion phases. For this reason, hybrid control which is able to occasionally switch control algorithms according to the motion phases has been preferred in the assistive robots, in particular wearable robots. In this paper, a generalized control framework is proposed as a fundamental framework for the hybrid assistive control and its stability is analyzed using the framework. The proposed control framework is implemented into a lower-limb exoskeleton robot and its effectiveness is verified thorough experiments.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1505-1509
Number of pages	5
ISBN (Electronic)	9781479936854, 9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907051
State	Published - 22 Sep 2014
Event	2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China Duration: 31 May 2014 → 7 Jun 2014

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Country/Territory	China
City	Hong Kong
Period	31/05/14 → 7/06/14

Bibliographical note

Publisher Copyright:
© 2014 IEEE.

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10.1109/ICRA.2014.6907051

Cite this

Baek, E., Song, S. K., Oh, S., Mohammed, S., Jeon, D., & Kong, K. (2014). A generalized control framework of assistive controllers for lower limb exoskeletons. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 1505-1509). Article 6907051 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2014.6907051

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abstract = "A number of control methodologies have been studied for assistive robotic technologies. Since the human motions in a daily life consist of multiple phases, such as walking, sitting and standing, controllers for assistive robots are required to be able to cope with different motion phases. For this reason, hybrid control which is able to occasionally switch control algorithms according to the motion phases has been preferred in the assistive robots, in particular wearable robots. In this paper, a generalized control framework is proposed as a fundamental framework for the hybrid assistive control and its stability is analyzed using the framework. The proposed control framework is implemented into a lower-limb exoskeleton robot and its effectiveness is verified thorough experiments.",

author = "Eunyoung Baek and Song, {Seok Ki} and Sehoon Oh and Samer Mohammed and Doyoung Jeon and Kyoungchul Kong",

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Baek, E, Song, SK, Oh, S, Mohammed, S, Jeon, D & Kong, K 2014, A generalized control framework of assistive controllers for lower limb exoskeletons. in Proceedings - IEEE International Conference on Robotics and Automation., 6907051, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1505-1509, 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 31/05/14. https://doi.org/10.1109/ICRA.2014.6907051

A generalized control framework of assistive controllers for lower limb exoskeletons. / Baek, Eunyoung; Song, Seok Ki; Oh, Sehoon et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1505-1509 6907051 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - A number of control methodologies have been studied for assistive robotic technologies. Since the human motions in a daily life consist of multiple phases, such as walking, sitting and standing, controllers for assistive robots are required to be able to cope with different motion phases. For this reason, hybrid control which is able to occasionally switch control algorithms according to the motion phases has been preferred in the assistive robots, in particular wearable robots. In this paper, a generalized control framework is proposed as a fundamental framework for the hybrid assistive control and its stability is analyzed using the framework. The proposed control framework is implemented into a lower-limb exoskeleton robot and its effectiveness is verified thorough experiments.

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Baek E, Song SK, Oh S, Mohammed S, Jeon D, Kong K. A generalized control framework of assistive controllers for lower limb exoskeletons. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1505-1509. 6907051. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2014.6907051

A generalized control framework of assistive controllers for lower limb exoskeletons

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