A System for Simple Robotic Walking Assistance With Linear Impulses at the Center of Mass.

ABSTRACT: Walking can be simplified as an inverted pendulum motion where both legs generate linear impulses to redirect the center of mass (COM) into every step. In this work, we describe a system to assist walking in a simpler way than exoskeletons by providing linear impulses directly at the COM instead of providing torques at the joints. We developed a novel waist end-effector and high-level controller for an existing cable-robot. The controller allows for the application of cyclic horizontal force profiles with desired magnitudes, timings, and durations based on detection of the step timing. By selecting a lightweight rubber series elastic element with optimal stiffness and carefully tuning the gains of the closed-loop proportional-integral-derivative (PID) controller in a number of single-subje

SUBMITTER: Gonabadi AM 

PROVIDER: S-EPMC7404782 | biostudies-literature | 2020 Jun

REPOSITORIES: biostudies-literature