A 1-DOF assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs

Gabriel Aguirre-Ollinger*, J. Edward Colgate, Michael A. Peshkin, Ambarish Goswami

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

49 Scopus citations

Abstract

We propose a novel control method for lower-limb assist that produces a virtual modification of the mechanical impedance of the human limbs. This effect is accomplished through the use of an exoskeleton that displays active impedance. The proposed method is aimed at improving the dynamic response of the human limbs, while preserving the user's control authority. Our goal is to use active-impedance exoskeleton control to improve the user's agility of motion, for example by reducing the average time needed to complete a movement. Our control method has been implemented in a 1-DOF exoskeleton designed to assist human subjects performing knee flexions and extensions. In this paper we discuss an initial study on the effect of negative exoskeleton damping (a particular case of active-impedance control) on the subject's time to complete a target-reaching motion. Experimental results show this effect to be statistically significant. On average, subjects were able to reduce the time to complete the motion by 16%.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages1938-1944
Number of pages7
DOIs
StatePublished - 2007
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: Oct 29 2007Nov 2 2007

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period10/29/0711/2/07

Keywords

  • Active impedance
  • Assist
  • Exoskeleton
  • Lower limb
  • Rehabilitation robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Fingerprint Dive into the research topics of 'A 1-DOF assistive exoskeleton with virtual negative damping: Effects on the kinematic response of the lower limbs'. Together they form a unique fingerprint.

Cite this