Locomotive Control of a Wearable Lower Exoskeleton for Walking Enhancement

• DOI: 10.1177/1077546306070616
• Publication Date: 2006-12-11T10:11:58Z
• Authors: K. H. Low; Xiaopeng Liu; C. H. Goh; Haoyong Yu
• Keywords: Payload (computing); Powered exoskeleton

This article presents a wearable lower extremity exoskeleton (LEE) designed to augment the ability of human walk while carrying payloads. The ultimate goal current research is design and control power-assisted system that integrates human’s intellect as command. in this work consists an inner outer exoskeleton. measures movements controls system, which follows supports payload. A special foot-unit was measure zero moment points (ZMPs) simultaneously. Using measured ZMP reference, exoskeleton’s controlled by trunk compensation achieve stable walking. COTS program, xPC Target, together with toolboxes from MATLAB, were used real-time operating integrated development environment, locomotion successfully implemented environment. Finally, some walking experimental results, virtue for exoskeletons, show can be achieved.