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

63 Scopus citations

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 publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages3845-3850
Number of pages6
DOIs
StatePublished - Nov 2 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

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

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    Holgate, M. A., Sugar, T., & B̈ohler, A. W. (2009). A novel control algorithm for wearable robotics using phase plane invariants. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 3845-3850). [5152565] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152565