ArticleProceedings of the ... American Control Conference. American Control Conference2017
Towards Total Energy Shaping Control of Lower-Limb Exoskeletons.
Article in Proceedings of the ... American Control Conference. American Control Conference, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
4 citing papers in PubMed.
- Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion.Journal of dynamic systems, measurement, and control · 2019Article
- On the Design and Control of Highly Backdrivable Lower-Limb Exoskeletons: A Discussion of Past and Ongoing Work.IEEE control systems · 2018Article
- Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots.Proceedings of the ... American Control Conference. American Control Conference · 2018Article
- Design and Validation of a Torque Dense, Highly Backdrivable Powered Knee-Ankle Orthosis.IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and AutomationArticle
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
2 authors.
Funding
Abstract
Current robotic exoskeletons enforce fixed reference joint patterns during gait rehabilitation. These control methods aim to replicate normative joint kinematics but do not facilitate learning patient-specific kinematics. Trajectory-free control methods for exoskeletons are required to promote user control over joint kinematics. Our prior work on potential energy shaping provides virtual body-weight support through a trajectory-free control law, but altering only the gravitational forces does not assist the subject in accelerating/decelerating the body forward. Kinetic energy is velocity dependent and thus shaping the kinetic energy in addition to potential energy can yield greater dynamical changes in closed loop. In this paper, we generalize our previous work to achieve underactuated total energy shaping of the human body through a lower-limb exoskeleton. By shaping the fully-actuated part of the body's mass matrix, we satisfy the matching condition for different contact phases and obtain trajectory-free control laws. Simulations of a human-like biped demonstrate speed regulation in addition to body-weight support, indicating the potential clinical value of this control approach.
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.