Control of the Honda Walking Assist device based on active admittance and inertia compensation

Funding or Partner Organisation: Honda Research Institute (Honda Research Institute USA Partnership)

Start year: 2013

Summary: The aim of this project is to develop and validate novel control methods for driving powered walking assist devices, also known as exoskeletons. The proposed control will enable the assistive device to synchronize its motion with the user's gait, and simultaneously exert forces to assist the user's movements. Our objective is to address two key challenges in robotic gait assistance: increasing the ability to sustain higher walking speeds with comfort, and improving the user¿s ability to take corrective steps in on order to avoid a fall.

Publications:

Aguirre-Ollinger, G, Nagarajan, U & Goswami, A 2016, 'An admittance shaping controller for exoskeleton assistance of the lower extremities', Autonomous Robots, vol. 40, no. 4, pp. 701-728.
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Nagarajan, U, Aguirre-Ollinger, G & Goswami, A 2016, 'Integral admittance shaping: A unified framework for active exoskeleton control', Robotics and Autonomous Systems, vol. 75, no. Part B, pp. 310-324.
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Aguirre-Ollinger, G 2015, 'Exoskeleton control for lower-extremity assistance based on adaptive frequency oscillators: Adaptation of muscle activation and movement frequency', Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, vol. 229, no. 1, pp. 52-68.
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Nagarajan, U, Aguirre-Ollinger, G & Goswami, A 1970, 'Integral Admittance Shaping for exoskeleton control', 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Seattle, Washington, pp. 5641-5648.
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Keywords: Exoskeleton, rehabilitation, walking, control

FOR Codes: Allied Health Therapies (excl. Mental Health Services), Control Systems, Robotics and Automation, Human Movement and Sports Science, Medical Instruments, Adaptive Agents and Intelligent Robotics, Sports science and exercise, Control engineering, mechatronics and robotics, Intelligent robotics

Acknowledgement of Country

UTS acknowledges the Gadigal people of the Eora Nation, the Boorooberongal people of the Dharug Nation, the Bidiagal people and the Gamaygal people, upon whose ancestral lands our university stands. We would also like to pay respect to the Elders both past and present, acknowledging them as the traditional custodians of knowledge for these lands.