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Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors | |
Crea, Simona1,2; Manca, Silvia1; Parri, Andrea1; Zheng, Enhao3; Mai, Jingeng4,5; Lova, Raffaele Molino2; Vitiello, Nicola1,2; Wang, Qining4,6 | |
发表期刊 | IEEE-ASME TRANSACTIONS ON MECHATRONICS |
ISSN | 1083-4435 |
2019-10-01 | |
卷号 | 24期号:5页码:2227-2235 |
摘要 | For partial lower-limb exoskeletons, an accurate real-time estimation of the gait phase is paramount to provide timely and well-tailored assistance during gait. To this end, dedicated wearable sensors separated from the exoskeletons mechanical structure may be preferable because they are typically isolated from movement artifacts that often result from the transient dynamics of the physical human-robot interaction. Moreover, wearable sensors that do not require time-consuming calibration procedures are more easily acceptable by users. In this paper, a robotic hip orthosis was controlled using capacitive sensors placed in orthopedic cuffs on the shanks. The capacitive signals are zeroed after donning the cuffs and do not require any further calibration. The capacitive-sensing-based controller was designed to perform online estimation of the gait cycle phase via adaptive oscillators, and to provide a phase-locked assistive torque. Two experimental activities were carried out to validate the effectiveness of the proposed control strategy. Experiments conducted with seven healthy subjects walking on a treadmill at different speeds demonstrated that the controller can estimate the gait phase with an average error of 4%, while also providing hip flexion assistance. Moreover, experiments carried out with four healthy subjects showed that the capacitive-sensing-based controller could reduce the metabolic expenditure of subjects compared to the unassisted condition (mean +/- SEM, - 3.2% +/- 1.1). |
关键词 | Capacitive sensing gait phase estimation hip exoskeleton wearable robotics |
DOI | 10.1109/TMECH.2019.2929826 |
关键词[WOS] | GAIT PHASE ; DESIGN ; VALIDATION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[91648207] ; Beijing Natural Science Foundation[L172052] ; Beijing Natural Science Foundation[L182001] ; European Union within the CYBERLEGs Plus Plus Project H2020-ICT-2016-1[731931] ; National Key R&D Program of China[2018YFC2001503] ; Beijing Municipal Science and Technology Project[Z181100009218007] ; National Natural Science Foundation of China[91648207] ; Beijing Natural Science Foundation[L172052] ; Beijing Natural Science Foundation[L182001] ; European Union within the CYBERLEGs Plus Plus Project H2020-ICT-2016-1[731931] ; National Key R&D Program of China[2018YFC2001503] ; Beijing Municipal Science and Technology Project[Z181100009218007] |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical |
WOS记录号 | WOS:000493174900030 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 实体人工智能系统(软、硬件) |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/28889 |
专题 | 多模态人工智能系统全国重点实验室_机器人理论与应用 |
通讯作者 | Wang, Qining |
作者单位 | 1.Scuola Super Sant Anna, BioRobot Inst, I-56127 Pisa, Italy 2.IRCCS Fdn Don Carlo Gnocchi, I-20148 Milan, Italy 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100864, Peoples R China 4.Peking Univ, Coll Engn, Robot Res Grp, Beijing 100871, Peoples R China 5.Peking Univ, Beijing Engn Res Ctr Intelligent Rehabil Engn, Beijing 100871, Peoples R China 6.Peking Univ, Beijing Innovat Ctr Engn Sci & Adv Technol, Beijing 100871, Peoples R China |
推荐引用方式 GB/T 7714 | Crea, Simona,Manca, Silvia,Parri, Andrea,et al. Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2019,24(5):2227-2235. |
APA | Crea, Simona.,Manca, Silvia.,Parri, Andrea.,Zheng, Enhao.,Mai, Jingeng.,...&Wang, Qining.(2019).Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors.IEEE-ASME TRANSACTIONS ON MECHATRONICS,24(5),2227-2235. |
MLA | Crea, Simona,et al."Controlling a Robotic Hip Exoskeleton With Noncontact Capacitive Sensors".IEEE-ASME TRANSACTIONS ON MECHATRONICS 24.5(2019):2227-2235. |
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