2018/02/22 by Omar Harib, Harib, Omar, Ayonga Hereid +23 · 1 citation
Computer Science · Engineering · Medicine · #FOS: Computer and information sciences #Prosthetics and Rehabilitation Robotics #Robotics (cs.RO) #Spinal Cord Injury Research #Stroke Rehabilitation and Recovery #cs.RO
paper · pdf · doi:10.48550/arxiv.1802.08322
Submitted to IEEE Control System Magazine. This version addresses reviewers' concerns about the robustness of the algorithm and the motivation for using such exoskeletons
openalex publication_date 2018/02/22 · arxiv created 2018/05/21 · arxiv updated 2018/05/23 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We harness the power of modern optimization techniques and supervised machine learning to develop a smooth feedback control policy that provides robust velocity regulation and perturbation rejection. Preliminary evaluation of the stability and robustness of the proposed approach is demonstrated through the Gazebo simulation environment. In addition, preliminary experimental results with (complete) paraplegic individuals are included for the previous version of the controller.