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Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors

文献类型：期刊论文

作者Crea, Simona2,3; Manca, Silvia2; Parri, Andrea2; Zheng, Enhao4; Mai, Jingeng5,6; Lova, Raffaele Molino3; Vitiello, Nicola2,3; Wang, Qining1,5
刊名IEEE-ASME TRANSACTIONS ON MECHATRONICS
出版日期2019-10-01
卷号24期号:5页码:2227-2235
关键词Capacitive sensing gait phase estimation hip exoskeleton wearable robotics
ISSN号1083-4435
DOI10.1109/TMECH.2019.2929826
通讯作者Wang, Qining(qiningwang@pku.edu.cn)
英文摘要For partial lower-limb exoskeletons, an accurate real-time estimation of the gait phase is paramount to provide timely and well-tailored assistance during gait. To this end, dedicated wearable sensors separated from the exoskeletons mechanical structure may be preferable because they are typically isolated from movement artifacts that often result from the transient dynamics of the physical human-robot interaction. Moreover, wearable sensors that do not require time-consuming calibration procedures are more easily acceptable by users. In this paper, a robotic hip orthosis was controlled using capacitive sensors placed in orthopedic cuffs on the shanks. The capacitive signals are zeroed after donning the cuffs and do not require any further calibration. The capacitive-sensing-based controller was designed to perform online estimation of the gait cycle phase via adaptive oscillators, and to provide a phase-locked assistive torque. Two experimental activities were carried out to validate the effectiveness of the proposed control strategy. Experiments conducted with seven healthy subjects walking on a treadmill at different speeds demonstrated that the controller can estimate the gait phase with an average error of 4%, while also providing hip flexion assistance. Moreover, experiments carried out with four healthy subjects showed that the capacitive-sensing-based controller could reduce the metabolic expenditure of subjects compared to the unassisted condition (mean +/- SEM, - 3.2% +/- 1.1).
WOS关键词GAIT PHASE ; DESIGN ; VALIDATION
资助项目European Union within the CYBERLEGs Plus Plus Project H2020-ICT-2016-1[731931] ; National Key R&D Program of China[2018YFC2001503] ; National Natural Science Foundation of China[91648207] ; Beijing Natural Science Foundation[L182001] ; Beijing Natural Science Foundation[L172052] ; Beijing Municipal Science and Technology Project[Z181100009218007]
WOS研究方向Automation & Control Systems ; Engineering
语种英语
WOS记录号WOS:000493174900030
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构European Union within the CYBERLEGs Plus Plus Project H2020-ICT-2016-1 ; National Key R&D Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Beijing Municipal Science and Technology Project
源URL[http://ir.ia.ac.cn/handle/173211/28888]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_机器人应用与理论组
通讯作者Wang, Qining
作者单位1.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China
2.Scuola Super Sant Anna, BioRobot Inst, I-56127 Pisa, Italy
3.IRCCS Fdn Don Carlo Gnocchi, I-20148 Milan, Italy
4.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100864, Peoples R China
5.Peking Univ, Coll Engn, Robot Res Grp, Beijing 100871, Peoples R China
6.Peking Univ, Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing 100871, Peoples R China
推荐引用方式
GB/T 7714		 Crea, Simona,Manca, Silvia,Parri, Andrea,et al. Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(5):2227-2235.
APA Crea, Simona.,Manca, Silvia.,Parri, Andrea.,Zheng, Enhao.,Mai, Jingeng.,...&Wang, Qining.(2019).Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(5),2227-2235.
MLA Crea, Simona,et al."Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.5(2019):2227-2235.

入库方式： OAI收割

来源：自动化研究所

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