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http://dx.doi.org/10.7746/jkros.2020.15.4.323

Control Algorithm of a Wearable Walking Robot for a Patient with Hemiplegia  

Cho, Changhyun (Mechanical Engineering, Chosun University)
Publication Information
The Journal of Korea Robotics Society / v.15, no.4, 2020 , pp. 323-329 More about this Journal
Abstract
This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.
Keywords
Stroke; Hemiplegia; Wearable Walking Robot; Admittance Control; Assist-As-Needed Control;
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Times Cited By KSCI : 2  (Citation Analysis)
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