Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People.
Sensors (Basel)
; 20(20)2020 Oct 15.
Article
en En
| MEDLINE
| ID: mdl-33076576
ABSTRACT
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.
Palabras clave
Texto completo:
1
Colección:
01-internacional
Banco de datos:
MEDLINE
Asunto principal:
Caminata
/
Dispositivo Exoesqueleto
Límite:
Aged
/
Humans
Idioma:
En
Revista:
Sensors (Basel)
Año:
2020
Tipo del documento:
Article
País de afiliación:
China