Design and Implementation of Variable Impedance Control for Lower-Limb Exoskeletons with Desired Gate Refinement, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The main goal of this thesis is to develop and implement a variable Impedance control method with the ability to refine the desired gait in an online manner. For this purpose, a dataset consisting of 89 healthy gaits was utilized. Then, “Basic shapes” were driven using principal component analysis and their meaningfulness was investigated. Regarding the meaningfulness of coefficients of basic shapes, a normality metric was defined to evaluate the human gaits. Furthermore, as a reference gait refinement in Impedance control, an outer loop was added to change the desired gait, according to traversed gait. Kalman filter was used to estimate the coefficients of basic shapes in this loop. In...
Cataloging briefDesign and Implementation of Variable Impedance Control for Lower-Limb Exoskeletons with Desired Gate Refinement, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The main goal of this thesis is to develop and implement a variable Impedance control method with the ability to refine the desired gait in an online manner. For this purpose, a dataset consisting of 89 healthy gaits was utilized. Then, “Basic shapes” were driven using principal component analysis and their meaningfulness was investigated. Regarding the meaningfulness of coefficients of basic shapes, a normality metric was defined to evaluate the human gaits. Furthermore, as a reference gait refinement in Impedance control, an outer loop was added to change the desired gait, according to traversed gait. Kalman filter was used to estimate the coefficients of basic shapes in this loop. In...
Find in contentBookmark |
|