Martinez Andes, Lawson Brian, Goldfarb Michael
Annu Int Conf IEEE Eng Med Biol Soc. 2018 Jul;2018:2797-2800. doi: 10.1109/EMBC.2018.8512807.
This paper describes a controller for guiding and assisting leg movement during walking with a lower limb exoskeleton with actuated hip and knee joints. The primary novel aspect of the controller is that it employs a virtual flow field to influence movement during swing, rather than a more typical potential-energy-based field. The controller was tested on a single stroke subject. The stroke subject's leg kinematics demonstrate that the controller is capable of appropriately influencing leg kinematics during overground walking.
本文描述了一种用于在具有驱动髋关节和膝关节的下肢外骨骼行走过程中引导和辅助腿部运动的控制器。该控制器的主要新颖之处在于，它在摆动过程中采用虚拟流场来影响运动，而不是更典型的基于势能的场。该控制器在一名中风患者身上进行了测试。中风患者的腿部运动学表明，该控制器能够在地面行走过程中适当地影响腿部运动学。
