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Impedance Control Strategies for Lower-Limb Exoskeletons

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Interfacing Humans and Robots for Gait Assistance and Rehabilitation

Abstract

In the last decades, researchers have used the physical-Human–Robot-interaction (pHRI) to develop rehabilitation and assistance wearable robots. The control strategies implementation based on impedance control considers the force/torque generated between the user and the wearable robot such as the lower-limb exoskeleton. In this sense, the development of these control strategies comprises the acquisition of different user’s kinetic and kinematic parameters, a processing module, and a mechanical structure to transmit the system response. This chapter presents the control strategies development for gait rehabilitation implemented in the AGoRA lower-limb exoskeleton covered as follows: (1) Human–Robot interaction (HRI) definition; (2) sensory interface to estimate the user’s lower-limb movements; (3) actuation system; (4) impedance controller; and (5) impedance controller case study.

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Authors and Affiliations

  1. Biomedical Engineering, Department of the Colombian School of Engineering Julio Garavito, Bogotá D.C., Colombia

    Luis Arciniegas-Mayag, Marcela Múnera & Carlos A. Cifuentes

  2. Robotics & Multibody Mechanics Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, Elsene, Belgium

    Carlos Rodriguez-Guerrero

  3. Centro de Automática y Robótica, CSIC-UPM, Arganda del Rey, Madrid, Spain

    Eduardo Rocon

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  1. Luis Arciniegas-Mayag
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  2. Carlos Rodriguez-Guerrero
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  3. Eduardo Rocon
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  4. Marcela Múnera
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  5. Carlos A. Cifuentes
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Correspondence to Carlos A. Cifuentes .

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Arciniegas-Mayag, L., Rodriguez-Guerrero, C., Rocon, E., Múnera, M., Cifuentes, C.A. (2022). Impedance Control Strategies for Lower-Limb Exoskeletons. In: Interfacing Humans and Robots for Gait Assistance and Rehabilitation. Springer, Cham. https://doi.org/10.1007/978-3-030-79630-3_8

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  • DOI: https://doi.org/10.1007/978-3-030-79630-3_8

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