Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person

Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person

Lower-limb exoskeletons are a promising option to increase the mobility of persons with leg impairments in a near future. However, it is still challenging for them to ensure the necessary stability and agility to face obstacles, particularly the variety that makes the urban environment. That is why...

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Bibliographic Details
Main Authors: Vaiyee Huynh, Guillaume Burger, Quoc Viet Dang, Raphaël Pelgé, Guilhem Boéris, Jessy W. Grizzle, Aaron D. Ames, Matthieu Masselin
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-09-01
Series:Frontiers in Robotics and AI
Subjects:
lower-limb exoskeleton
self-balanced
optimal control
direct collocation
trajectory generation
cybathlon
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.723780/full

Internet

https://www.frontiersin.org/articles/10.3389/frobt.2021.723780/full

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