This paper describes a control method for a lower limb powered exoskeleton that enables a paraplegic user to perform sitting, standing, and walking movements. The different maneuvers are commanded by the user based on postural information measured by the device. The proposed user interface and control structure was implemented on a powered lower limb orthosis, and the system was tested on a paraplegic subject with a T10 complete injury. Experimental data is presented that indicates the ability of the proposed control architecture to provide appropriate user-initiated control of sitting, standing, and walking. The authors also provide a link to a video that qualitatively demonstrates the user's ability to independently control basic movements via the proposed control method.
A Method for the Autonomous Control of Lower Limb Exoskeletons for Persons With Paraplegia
Nashville, TN 37235
Manuscript received August 16, 2011; final manuscript received April 29, 2012; published online October 11, 2012. Assoc. Editor: Jahangir Rastegar.
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Quintero, H. A., Farris, R. J., and Goldfarb, M. (October 11, 2012). "A Method for the Autonomous Control of Lower Limb Exoskeletons for Persons With Paraplegia." ASME. J. Med. Devices. December 2012; 6(4): 041003. https://doi.org/10.1115/1.4007181
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