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Ankle Exoskeletons

Abstract

Control schemes leveraging IMU sensors to estimate the angle and velocity of the user legs were developed to interface with the action of the exoskeleton.

Publications & Resources

đź“„ Journal (IEEE RA-L): C. Khazoom, C. Veronneau, J. P. L. BiguĂ©, J. Grenier, A. Girard and J. Plante, "Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing," IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3632–3639, 2019.

Project Media

Experiments
Ankle Exoskeletons — illustration
Phase plane used in the control laws

Project Details

Partner
Team
Charles Khazoom (MS), Prof. Alexandre Girard and Prof. Jean-SĂ©bastien Plante
Date
2019
Keywords
Actuator design, compliant control and human-machine interface