University of Twente Student Theses
A Controller for Corrective Stepping for a Bipedal Exoskeleton Robot
Verhoeven, J.P. (2023) A Controller for Corrective Stepping for a Bipedal Exoskeleton Robot.
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| Abstract: | Up to half a million people worldwide suffer a spinal cord injury every year, often resulting in paraplegia. Exoskeleton robots can aid in rehabilitation and improve mobility and quality of life for these patients. Because current prototypes force the user to rely on crutches for stability, balance control is one of their main challenges. In this work, a controller for corrective stepping for a bipedal exoskeleton robot is designed and tested in simulations using a Linear inverted Pendulum (LiP) model. The controller uses the Instantaneous Capture point and Capture Areas associated with the LiP model to control the position of the feet and Zero Moment Point location within the Polygon of Support to stabilize the robot after a disturbance (e.g. a push). This controller proved to effectively stabilize pushes of up to 90 N in different directions for a duration of 0.25 s in simulations. |
| Item Type: | Essay (Bachelor) |
| Faculty: | ET: Engineering Technology |
| Subject: | 50 technical science in general, 52 mechanical engineering |
| Programme: | Biomedical Technology BSc (56226) |
| Link to this item: | https://purl.utwente.nl/essays/95744 |
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