The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Control Algorithm of the Lower-limb Powered Exoskeleton Robot using an Intention of the Human Motion from Muscle

인체근육의 동작의도를 이용한 하지 근력증강형 외골격 로봇의 제어 알고리즘

  • Lee, Hee-Don (Convergence Research Center for Collaborative Robotics, Daegu Gyeongbuk Institute of Science & Technology) ;
  • Kim, Wan-Soo (Istituto Italiano di Tecnologia (IIT)) ;
  • Lim, Dong-Hwan (Mechanical Engineering, Hanyang University) ;
  • Han, Chang-Soo (Robot Engineering, Hanyang University)
  • Received : 2017.03.03
  • Accepted : 2017.04.28
  • Published : 2017.05.31
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Abstract

This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side.

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References

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