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Design of a sit-to-stand controller for a lower limb exoskeleton and validation by feasible crutch usage identification

Velu, E.V. (2018) Design of a sit-to-stand controller for a lower limb exoskeleton and validation by feasible crutch usage identification.

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Abstract:Lower limb exoskeletons can help to reduce the long term impact of spinal cord injury towards lifetime costs and life quality of the patient by improving the mobility. The versatility of exoskeletons is crucial to successfully achieve these goals. The sit-to-stand (STS) motion is essential for the use and versatility of exoskeletons. However, exoskeletons are not yet strong enough to fully execute the STS motion and therefore proper crutch usage is necessary. The goal of this study is to design a STS controller and to identify proper crutch usage according to crutch placement and angle orientation. We designed a controller which focuses on balancing the center of mass of the human exoskeleton system’s (HES), while relying on the crutch forces to achieve sufficient upward force for successful STS motion. In this study the technical specifications of the Wearable Exoskeleton 2, one of the strongest exoskeletons, are used to simulate the effects of different crutch scenarios. The used HES model is a sagittal symmetric model with fixed ground contact points. This study presents the design of a STS controller for a lower limb exoskeleton and validates the feasibility of the designed STS controller, while identifying the contribution of the crutches.
Item Type:Essay (Master)
Faculty:ET: Engineering Technology
Subject:42 biology, 44 medicine, 52 mechanical engineering
Programme:Biomedical Engineering MSc (66226)
Link to this item:http://purl.utwente.nl/essays/77050
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