Markov jump linear systems-based position estimation for lower limb exoskeletons.
In this paper, we deal with Markov Jump Linear Systems-based filtering applied to robotic rehabilitation. The angular positions of an impedance-controlled exoskeleton, designed to help stroke and spinal cord injured patients during walking rehabilitation, are estimated. Standard position estimate approaches adopt Kalman filters (KF) to improve the performance of inertial measurement units (IMUs) based on individual link configurations. Consequently, for a multi-body system, like a lower limb exoskeleton, the inertial measurements of one link (e.g., the shank) are not taken into account in other link position estimation (e.g., the foot). In this paper, we propose a collective modeling of all inertial sensors attached to the exoskeleton, combining them in a Markovian estimation model in order to get the best information from each sensor. In order to demonstrate the effectiveness of our approach, simulation results regarding a set of human footsteps, with four IMUs and three encoders attached to the lower limb exoskeleton, are presented. A comparative study between the Markovian estimation system and the standard one is performed considering a wide range of parametric uncertainties.
Department of Mechanical Engineering, University of São Paulo, São Carlos, SP 13566-590, Brazil. samlourenco@gmail.com.
Samuel L
SL
Nogueira
Department of Mechanical Engineering, University of São Paulo, São Carlos, SP 13566-590, Brazil. siqueira@sc.usp.br.
Adriano A G
AA
Siqueira
Department of Electrical Engineering, Federal University of São Carlos, SP 13565-905, Brazil. rsinoue@ufscar.br.
Roberto S
RS
Inoue
Center for Robotics of São Carlos and Center for Advanced Studies in Rehabilitation, University of São Paulo, SP 13566-590, Brazil. terra@sc.usp.br.
Marco H
MH
Terra
D000465:Algorithms; D001696:Biomechanical Phenomena; D006801:Humans; D035002:Lower Extremity / Q000503:physiopathology; D008390:Markov Chains; D012371:Robotics / Q000379:methods*; D012984:Software; D013119:Spinal Cord Injuries / Q000534:rehabilitation*; D000071939:Stroke Rehabilitation; D016138:Walking / Q000502:physiology*