Design and Implementation of a Control Strategy to Sustain Postural Stability for a Lower Limb Exoskeleton, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor) ; Moradi, Hamed (Supervisor)
Abstract
Nowadays, the developments in control and robotics provide rehabilitation and power augmentation applications for the exoskeleton robots. In the rehabilitation applications, the goal is to help elderly and persons with paraplegia to do their daily activities and movements. One of this applications is to help these individuals for postural stability and recovering balance after receiving perturbations. In this research, we propose a control strategy for a lower limb exoskeleton to help the wearer to recover balance after a perturbation without using crutches. Here, we concentrate on the stance phase when a push is exerted to the robot and try to make the system quite upright. Therefore, a...
Cataloging briefDesign and Implementation of a Control Strategy to Sustain Postural Stability for a Lower Limb Exoskeleton, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor) ; Moradi, Hamed (Supervisor)
Abstract
Nowadays, the developments in control and robotics provide rehabilitation and power augmentation applications for the exoskeleton robots. In the rehabilitation applications, the goal is to help elderly and persons with paraplegia to do their daily activities and movements. One of this applications is to help these individuals for postural stability and recovering balance after receiving perturbations. In this research, we propose a control strategy for a lower limb exoskeleton to help the wearer to recover balance after a perturbation without using crutches. Here, we concentrate on the stance phase when a push is exerted to the robot and try to make the system quite upright. Therefore, a...
Find in contentBookmark |
|