Paper Info
Title
The Berkeley Lower Extremity Exoskeleton.
Abstract
The first functional load-carrying and energetically autonomous exoskeleton was demonstrated at U.C. Berkeley, walking at the average speed of 1.3 m/s while carrying a 34 kg (75 lb) payload. Four fundamental technologies associated with the Berkeley Lower Extremity Exoskeleton (BLEEX) were tackled during the course of this project. These four core technologies include: the design of the exoskeleton architecture, control schemes, a body local area network (bLAN) to host the control algorithm and an on-board power unit to power the actuators, sensors and the computers. This article gives an overview of one of the control schemes. The analysis here is an extension of the classical definition of the sensitivity function of a system: the ability of a system to reject disturbances or the measure of system robustness. The control algorithm developed here increases the closed loop system sensitivity to its wearer's forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal). The control method has little robustness to parameter variations and therefore requires a relatively good dynamic model of the system.
Year
DOI
Venue
2005
10.1115/1.2168164
Springer Tracts in Advanced Robotics
Field
DocType
Volume
Simulation,Computer science,Exoskeleton
Conference
25
Issue
ISSN
Citations 
1
1610-7438
18
PageRank 
References 
Authors
3.90
4
1
Name
Order
Citations
PageRank
H. Kazerooni1766314.26