Survey of On-line Control Strategies of Human-Powered Augmentation Exoskeleton SystemsAhmed AIA1*, Cheng H1, Lin X1, Omer M2 and Atieno JM3
- *Corresponding Author:
- Abusabah IA Ahmed
Center for Robotics, School of Automation
University of Electronic Science and Technology of China
E-mail: [email protected]
Received date: October 03, 2016; Accepted date: November 09, 2016; Published date: November 11, 2016
Citation: Ahmed AIA, Cheng H, Lin X, Omer M, Atieno JM (2016) Survey of Online Control Strategies of Human-Powered Augmentation Exoskeleton Systems. Adv Robot Autom 5:158. doi: 10.4172/2168-9695.1000158
Copyright: © 2016 Ahmed AIA, et al. This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
On-line gait control in human-powered exoskeleton systems is still rich research field and represents a step towards fully autonomous, safe and intelligent indoor and outdoor navigation. It is still a big challenge to develop a control strategy which makes the exoskeleton supply an efficient tracking for pilot intended trajectories on-line. Considering the number of degrees of freedom the lower limb exoskeletons are simpler to design, compared to upper limb. The comparison between lower limb and upper limb is useless when consider the control issues, because of the differences in missions and applications. Based on the literature, we aim to give an overview about control strategies of some famous lower limb human power exoskeleton systems. In the state of the art, different control strategies and approaches for different types of lower limb exoskeletons will be compared consider the efficiency and economic issues. Exact estimation of needed joints torques to execute human intended motions on-line with efficient performance, low cost and reliable way is the main goal of studied system’s control strategies. We have study different control strategies used for wide known human power augmentation exoskeletons and compare between them in graphs and tables.