Abstract
On-line gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent indoor and outdoor navigation. It is still a big challenge to develop a control strategy which makes the exoskeleton supply an efficient tracking for pilot intended trajectories on-line. Considering the number of degrees of freedom the lower limb exoskeletons are simpler to design, compared to upper limb. The comparison between lower limb and upper limb is useless when consider the control issues, because of the differences in missions and applications. Based on the literature, we aim to give an overview about control strategies of some famous lower limb human power exoskeleton systems. In the state of the art, different control strategies and approaches for different types of lower limb exoskeletons will be compared consider the efficiency and economic issues. Exact estimation of needed joints torques to execute human intended motions on-line with efficient performance, low cost and reliable way is the main goal of studied system’s control strategies. We have study different control strategies used for wide known human power augmentation exoskeletons and compare between them in graphs and tables.
Highlights
On-line motion control of human power augmentation exoskeleton systems is still a big challenge specially for the applications in complicated and dynamic terrains
The efficiency of motion control strategy will be measured in according to the some performance features, such as interaction force and tracking error
The aim of this paper is to provide an overview of the most effective motion control strategies for the lower limb human power augmentation exoskeleton systems
Summary
On-line motion control of human power augmentation exoskeleton systems is still a big challenge specially for the applications in complicated and dynamic terrains. By this we mean indoors mission conditions with frequent changing between flat terrain walking and stairs ascent or vice versa. Human-exoskeleton systems designed for constraining human movements to allow people to operate more or more efficiently in a variety of situations, required consideration of efficient control and economical issues. We mean these systems to be available for the public must have an efficient and available control strategy so can have further application developments.
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