Title :
BioKEX: A bionic knee exoskeleton with proxy-based sliding mode control
Author :
Yang Liao ; Zhihao Zhou ; Qining Wang
Author_Institution :
Coll. of Eng., Peking Univ., Beijing, China
Abstract :
In this paper, we present a powered bionic knee exoskeleton aiming at physical assistance and rehabilitation. The mechanical structure of the knee exoskeleton is based on anthropomorphic design, the tibia rolling or sliding on the femur during joint movements. In addition, a proxy-based sliding mode controller is used to improve the safety of the wearable device. Preliminary experimental results on trajectory tracking and dynamic response verify the feasibility of the proposed knee exoskeleton.
Keywords :
artificial limbs; biomechanics; bone; dynamic response; medical robotics; patient rehabilitation; trajectory control; variable structure systems; BioKEX; anthropomorphic design; dynamic response; femur; joint movement; mechanical structure; physical assistance; physical rehabilitation; powered bionic knee exoskeleton; proxy-based sliding mode controller; tibia rolling; tibia sliding; trajectory tracking; wearable device; Couplings; Exoskeletons; Gears; Joints; Knee; Thigh; Torque;
Conference_Titel :
Industrial Technology (ICIT), 2015 IEEE International Conference on
Conference_Location :
Seville
DOI :
10.1109/ICIT.2015.7125087
