Exoskeleton robot control for synchronous walking assistance in repetitive manual handling works based on dual unscented Kalman filter

PloS One
Fatai SadoNorhafizan Ahmad

Abstract

Prolong walking is a notable risk factor for work-related lower-limb disorders (WRLLD) in industries such as agriculture, construction, service profession, healthcare and retail works. It is one of the common causes of lower limb fatigue or muscular exhaustion leading to poor balance and fall. Exoskeleton technology is seen as a modern strategy to assist worker's in these professions to minimize or eliminate the risk of WRLLDs. Exoskeleton has potentials to benefit workers in prolong walking (amongst others) by augmenting their strength, increasing their endurance, and minimizing high muscular activation, resulting in overall work efficiency and productivity. Controlling exoskeleton to achieve this purpose for able-bodied personnel without impeding their natural movement is, however, challenging. In this study, we propose a control strategy that integrates a Dual Unscented Kalman Filter (DUKF) for trajectory generation/prediction of the spatio-temporal features of human walking (i.e. joint position, and velocity, and acceleration) and an impedance cum supervisory controller to enable the exoskeleton to follow this trajectory to synchronize with the human walking. Experiment is conducted with four subjects carrying a load and wa...Continue Reading

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Citations

Nov 19, 2020·Human Factors·Jasmine K ProudRezaul K Begg

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Software Mentioned

BLEEX
MATLAB
DUKF
Intelligent Cane Robot
ANdROS
Simulink
WalkTrainer
SPSS
HUALEX
LOPES

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