Reducing muscle effort in walking through powered exoskeletons.
This paper presents a novel assistive control for lower limb exoskeletons. The controller provides the user with a scaled version of the Winter's nominal torque profile, which is adapted online to the specific gait features of the user. The proposed assistive controller is implemented on the ALEX II exoskeleton and tested on two healthy subjects. Experimental results show that when assisted by the exoskeleton users can reduce the muscle effort compared to free walking.
BioRobotics Institute, Scuola Superiore sant’Anna, 56025 Pisa, Italy. lenzi@ ieee.org
T
T
Lenzi
D
D
Zanotto
P
P
Stegall
M C
MC
Carrozza
S K
SK
Agrawal
D005684:Gait / Q000502:physiology*; D006801:Humans; D018482:Muscle, Skeletal / Q000502:physiology*; D012656:Self-Help Devices; D016138:Walking / Q000502:physiology*