Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People
Tripping is a common problem that everyone faces when walking. This paper mainly focuses on a lower limb exoskeleton that can help those weak in joints to avoid tripping when negotiating stairs or stepping over obstacles. This method does not need a camera or map reconstruction to recognize the obst...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/20/5844 |
| _version_ | 1797550772025556992 |
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| author | Zongwei Zhang Changle Li Tianjiao Zheng Hongwu Li Sikai Zhao Jie Zhao Yanhe Zhu |
| author_facet | Zongwei Zhang Changle Li Tianjiao Zheng Hongwu Li Sikai Zhao Jie Zhao Yanhe Zhu |
| author_sort | Zongwei Zhang |
| collection | DOAJ |
| description | Tripping is a common problem that everyone faces when walking. This paper mainly focuses on a lower limb exoskeleton that can help those weak in joints to avoid tripping when negotiating stairs or stepping over obstacles. This method does not need a camera or map reconstruction to recognize the obstacles and plan paths. The exoskeleton applies an impedance controller to follow and control the pilot’s movements. A virtual potential field is proposed to help the robot regulate the pilot’s motion and avoid kicking the obstacles appearing in front of the pilot’s foot during walking. Simulation and experiments show that this method works effectively and could help the elderly and those affected by joint weakness avoid tripping when walking. |
| first_indexed | 2024-03-10T15:35:11Z |
| format | Article |
| id | doaj.art-15dd56b4a75742079af88583e2061440 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T15:35:11Z |
| publishDate | 2020-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-15dd56b4a75742079af88583e20614402023-11-20T17:17:47ZengMDPI AGSensors1424-82202020-10-012020584410.3390/s20205844Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly PeopleZongwei Zhang0Changle Li1Tianjiao Zheng2Hongwu Li3Sikai Zhao4Jie Zhao5Yanhe Zhu6State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, ChinaTripping is a common problem that everyone faces when walking. This paper mainly focuses on a lower limb exoskeleton that can help those weak in joints to avoid tripping when negotiating stairs or stepping over obstacles. This method does not need a camera or map reconstruction to recognize the obstacles and plan paths. The exoskeleton applies an impedance controller to follow and control the pilot’s movements. A virtual potential field is proposed to help the robot regulate the pilot’s motion and avoid kicking the obstacles appearing in front of the pilot’s foot during walking. Simulation and experiments show that this method works effectively and could help the elderly and those affected by joint weakness avoid tripping when walking.https://www.mdpi.com/1424-8220/20/20/5844virtual potential fieldtripping avoidanceexoskeletonimpedance controller |
| spellingShingle | Zongwei Zhang Changle Li Tianjiao Zheng Hongwu Li Sikai Zhao Jie Zhao Yanhe Zhu Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People Sensors virtual potential field tripping avoidance exoskeleton impedance controller |
| title | Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People |
| title_full | Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People |
| title_fullStr | Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People |
| title_full_unstemmed | Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People |
| title_short | Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People |
| title_sort | tripping avoidance lower extremity exoskeleton based on virtual potential field for elderly people |
| topic | virtual potential field tripping avoidance exoskeleton impedance controller |
| url | https://www.mdpi.com/1424-8220/20/20/5844 |
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