A novel control algorithm for wearable robotics using phase plane invariants

Matthew A. Holgate, Thomas Sugar, Alexander W. B̈ohler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

56 Citations (Scopus)

Abstract

With microprocessing power greatly increasing hardware is no longer a hurdle in the development of controllers for wearable robotic systems, specifically lower limb robots. The challenge remains in developing smart algorithms that are able to detect which task a person is about to perform and then determine the correct desired movements for the robotic system. This paper reflects on four existing control algorithms for the task of level ground walking, and then presents theory and test results of a novel control algorithm based on phase plane invariants. The goal of this paper is to produce the correct motor reference command in a continuous fashion rather thanbased on determining distinct states for a given task

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3845-3850
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

Fingerprint

Robotics
Robots
Hardware
Controllers

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Holgate, M. A., Sugar, T., & B̈ohler, A. W. (2009). A novel control algorithm for wearable robotics using phase plane invariants. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3845-3850). [5152565] https://doi.org/10.1109/ROBOT.2009.5152565

A novel control algorithm for wearable robotics using phase plane invariants. / Holgate, Matthew A.; Sugar, Thomas; B̈ohler, Alexander W.

Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 3845-3850 5152565.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Holgate, MA, Sugar, T & B̈ohler, AW 2009, A novel control algorithm for wearable robotics using phase plane invariants. in Proceedings - IEEE International Conference on Robotics and Automation., 5152565, pp. 3845-3850, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 5/12/09. https://doi.org/10.1109/ROBOT.2009.5152565
Holgate MA, Sugar T, B̈ohler AW. A novel control algorithm for wearable robotics using phase plane invariants. In Proceedings - IEEE International Conference on Robotics and Automation. 2009. p. 3845-3850. 5152565 https://doi.org/10.1109/ROBOT.2009.5152565
Holgate, Matthew A. ; Sugar, Thomas ; B̈ohler, Alexander W. / A novel control algorithm for wearable robotics using phase plane invariants. Proceedings - IEEE International Conference on Robotics and Automation. 2009. pp. 3845-3850
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