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• W3100734416 abstract "This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates the spinal learning process of people with a walking impediment when using a lower body exoskeleton. With this as motivation, we present a method to accurately control how much a subject is allowed to deviate from a given gait while ensuring robustness to patient perturbation. This method leverages control barrier functions to force certain joints to remain inside predefined trajectory tubes in a minimally invasive way. The effectiveness of the method is demonstrated experimentally with able-bodied subjects and the Atalante lower body exoskeleton." @default.
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• W3100734416 date "2020-01-01" @default.
• W3100734416 modified "2023-10-18" @default.
• W3100734416 title "Towards Variable Assistance for Lower Body Exoskeletons" @default.
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• W3100734416 doi "https://doi.org/10.1109/lra.2019.2955946" @default.
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