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Variable Impedance Control of the Lower Limb Exoskeleton
, Ph.D. Dissertation Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor) ; Selk Ghafari, Ali (Co-Advisor)
Abstract
Todays, the exoskeleton is known as a practical device for use in robotic rehabilitation and elderly assistance and has attracted the attention of many researchers. Impedance control is the most widely recognized control strategy in research on exoskeletons. Impedance control can properly handle soft interaction of robots with the environment. Optimal target impedance selection can increase the performance of the overall system and guarantee the stability. The main objective of this research was to introduce a variable impedance control system and verifying the presented control system on an exoskeleton. In this research, an exoskeleton with 4 active DoF and 8 semi-passive DoF is designed...
Control of a Lower Limb Exoskeleton Robot using a Reinforced Model Predictive Controller (RL-MPC)
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Spinal cord injury is a leading cause of lower-limb motor impairment and affects many people each year. Lower-limb motor deficits are a common consequence of spinal cord injury; patients with such deficits require repeated physiotherapy exercises to recover their gait cycle. The use of wearable exoskeleton robots for rehabilitation has increased in recent years; however, assistance only promotes the user’s improvement of their movement trajectory if it is provided when the user actually need it. Therefore, implementing an "assist-as-needed" strategy in partial rehabilitation substantially improves the effectiveness of therapy. In this study, the objective was to develop, design, and...