Annu Int Conf IEEE Eng Med Biol Soc. 2021 Nov;2021:4694-4699. doi: 10.1109/EMBC46164.2021.9630269.
In this work we are interested in to assess the effectiveness of a impedance control applied to a lower limb exoskeleton that assists a individual with weakness to perform the swing movement of gait. To this, we carried out simulations using a human-exoskeleton interaction model from OpenSim, a forward dynamics-based simulation algorithm from MATLAB and experimental data from a subject walking on a treadmill. The results proved that the control is efficient and capable of providing the necessary complementary torque so that the person can complete the movement with dexterity.
在这项工作中，我们感兴趣的是评估应用于下肢外骨骼的阻抗控制的有效性，该外骨骼辅助虚弱个体进行步态的摆动运动。为此，我们使用 OpenSim 中的人体-外骨骼相互作用模型、MATLAB 中的基于正向动力学的模拟算法以及在跑步机上行走的受试者的实验数据进行了模拟。结果证明，该控制是有效的，能够提供必要的补充扭矩，使患者能够灵活地完成运动。
