Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization.

ABSTRACT: Background: Efficient gait assistance by augmentative exoskeletons depends on reliable control strategies. While numerous control methods and their effects on the metabolic cost of walking have been explored in the literature, the use of different exoskeletons and dissimilar protocols limit direct comparisons. In this article, we present and compare two controllers for hip exoskeletons with different synchronization paradigms. Methods: The implicit-synchronization-based approach, termed the Simple Reflex Controller (SRC), determines the assistance as a function of the relative loading of the feet, resulting in an emerging torque profile continuously assisting extension during stance and flexion during swing. On the other hand, the Hip-Phase-based Torque profile controller (HP

SUBMITTER: Manzoori AR 

PROVIDER: S-EPMC10963600 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature