Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People
Abstract
:1. Introduction
2. Controller Design
3. Human–Exoskeleton Interactive Force and Virtual Force
3.1. Human–Exoskeleton Interactive Force
3.2. Virtual Force
4. Simulation
5. Experiment
5.1. Step Over a Door Threshold
5.2. Step Over Obstacles
6. Discussion and Future Works
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
References
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Zhang, Z.; Li, C.; Zheng, T.; Li, H.; Zhao, S.; Zhao, J.; Zhu, Y. Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People. Sensors 2020, 20, 5844. https://doi.org/10.3390/s20205844
Zhang Z, Li C, Zheng T, Li H, Zhao S, Zhao J, Zhu Y. Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People. Sensors. 2020; 20(20):5844. https://doi.org/10.3390/s20205844
Chicago/Turabian StyleZhang, Zongwei, Changle Li, Tianjiao Zheng, Hongwu Li, Sikai Zhao, Jie Zhao, and Yanhe Zhu. 2020. "Tripping Avoidance Lower Extremity Exoskeleton Based on Virtual Potential Field for Elderly People" Sensors 20, no. 20: 5844. https://doi.org/10.3390/s20205844