The DOI matches its Crossref record; 17 of the 17 references it cites were found in a registry or an index.
On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Abstract
The first functional load-carrying and energetically autonomous exoskeleton was demonstrated at U.C. Berkeley, walking at the average speed of 1.3 m/s while carrying a 34 kg (75 lb) payload. Four fundamental technologies associated with the Berkeley Lower Extremity Exoskeleton (BLEEX) were tackled during the course of this project. These four core technologies include: the design of the exoskeleton architecture, control schemes, a body local area network (bLAN) to host the control algorithm and an on-board power unit to power the actuators, sensors and the computers. This article gives an overview of one of the control schemes. The analysis here is an extension of the classical definition of the sensitivity function of a system: the ability of a system to reject disturbances or the measure of system robustness. The control algorithm developed here increases the closed loop system sensitivity to its wearer’s forces and torques without any measurement from the wearer (such as force, position, or electromyogram signal). The control method has little robustness to parameter variations and therefore requires a relatively good dynamic model of the system. The tradeoffs between having sensors to measure human variables and the lack of robustness to parameter variation are described.
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Citations
Cites
The relation between force and velocity in human muscle
Wilkie, D. R. (1949) · The Journal of Physiology · doi:10.1113/jphysiol.1949.sp004437 · Cited by 632
The RoboKnee: an exoskeleton for enhancing strength and endurance during walking
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Human Robot Interaction via the Transfer of Power and Information Signals
Kazerooni, H. (1990) · IEEE Trans. · Cited by 362
Self-citationPower Assist System HAL-3 for Gait Disorder Person
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Human-robot interaction via the transfer of power and information signals
Kazerooni, H. (1990) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/21.52555 · Cited by 338
Self-citationOn the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Zoss, A., Kazerooni, H., & Chu, A. (2005) · 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2005.1545453 · Cited by 305
Self-citationOn the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Chu, A., Kazerooni, H., & Zoss, A. (2006) · Proceedings of the 2005 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2005.1570789 · Cited by 258 · cited 1×
“The overall concept of this lower extremity exoskeleton is that the human provides an intelligent control system for the exoskeleton while the exoskeleton actuators provide most of the strength necessary for walking [1,2].”
BackgroundSelf-citationMosher, R. S. (1967) · SAE technical papers on CD-ROM/SAE technical paper series · doi:10.4271/670088 · Cited by 142
Kazerooni, H., & Guo, J. (1993) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.2899068 · Cited by 119
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Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
Zoss, A. B., Kazerooni, H., & Chu, A. (2006) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2006.871087 · Cited by 1,170
Self-citationControl strategies for active lower extremity prosthetics and orthotics: a review
Tucker, M. R., Olivier, J., Pagel, A., Bleuler, H., Bouri, M., Lambercy, O., Millán, J. D. R., Riener, R., Vallery, H., & Gassert, R. (2015) · Journal of NeuroEngineering and Rehabilitation · doi:10.1186/1743-0003-12-1 · Cited by 1,047
“Many classical control strategies employ negative feedback, though the Berkeley Lower Extremity Exoskeleton (BLEEX) employs a positive feedback loop [220,221].”
Compliant actuation of rehabilitation robots
Vallery, H., Veneman, J., van Asseldonk, E., Ekkelenkamp, R., Buss, M., & van Der Kooij, H. (2008) · IEEE Robotics & Automation Magazine · doi:10.1109/mra.2008.927689 · Cited by 448
Kong, K., Bae, J., & Tomizuka, M. (2009) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2008.2004561 · Cited by 426
On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)
Chu, A., Kazerooni, H., & Zoss, A. (2006) · Proceedings of the 2005 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2005.1570789 · Cited by 258
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Metadata
- Authors
- Kazerooni, H., Racine, J.-L., Huang, L., & Steger, R.
- Venue
- Proceedings of the 2005 IEEE International Conference on Robotics and Automation
- Publisher
- IEEE
- Published
- 2006-01-18
- Pages
- 4353-4360
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2138300314
- Cited by
- 594
- References
- 17
- FWCI
- 49.92
- Type
- conference paper
- Language
- en
- Open access
- closed
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