Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments

@article{AguirreOllinger2012InertiaCC,
  title={Inertia Compensation Control of a One-Degree-of-Freedom Exoskeleton for Lower-Limb Assistance: Initial Experiments},
  author={Gabriel Aguirre-Ollinger and J. Edward Colgate and M. A. Peshkin and Ambarish Goswami},
  journal={IEEE Transactions on Neural Systems and Rehabilitation Engineering},
  year={2012},
  volume={20},
  pages={68-77}
}
A new method of lower-limb exoskeleton control aimed at improving the agility of leg-swing motion is presented. In the absence of control, an exoskeleton's mechanism usually hinders agility by adding mechanical impedance to the legs. The uncompensated inertia of the exoskeleton will reduce the natural frequency of leg swing, probably leading to lower step frequency during walking as well as increased metabolic energy consumption. The proposed controller emulates inertia compensation by adding a… CONTINUE READING
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