TY - GEN
T1 - A novel control algorithm for wearable robotics using phase plane invariants
AU - Holgate, Matthew A.
AU - Sugar, Thomas
AU - B̈ohler, Alexander W.
PY - 2009/11/2
Y1 - 2009/11/2
N2 - 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
AB - 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
UR - http://www.scopus.com/inward/record.url?scp=70350350895&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2009.5152565
DO - 10.1109/ROBOT.2009.5152565
M3 - Conference contribution
AN - SCOPUS:70350350895
SN - 9781424427895
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3845
EP - 3850
BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09
Y2 - 12 May 2009 through 17 May 2009
ER -