Full Content is available to subscribers

Subscribe/Learn More  >

Sensing User Input on a Human Exoskeleton Device

[+] Author Affiliations
Bradley W. Perry, Homayoon Kazerooni

University of California, Berkeley, CA

Paper No. DSCC2014-5942, pp. V003T42A001; 10 pages
  • ASME 2014 Dynamic Systems and Control Conference
  • Volume 3: Industrial Applications; Modeling for Oil and Gas, Control and Validation, Estimation, and Control of Automotive Systems; Multi-Agent and Networked Systems; Control System Design; Physical Human-Robot Interaction; Rehabilitation Robotics; Sensing and Actuation for Control; Biomedical Systems; Time Delay Systems and Stability; Unmanned Ground and Surface Robotics; Vehicle Motion Controls; Vibration Analysis and Isolation; Vibration and Control for Energy Harvesting; Wind Energy
  • San Antonio, Texas, USA, October 22–24, 2014
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4620-9
  • Copyright © 2014 by ASME


To practically help those with limited mobility disorders, human exoskeletons need to be intelligent devices that not only guide the pilot along a particular gait but do so in a manner that is comfortable to the pilot and sensitive to pilot intent. This paper proposes sensing the user’s intent and then weighing gait tracking with amplifying the user’s input. To do so, this method utilizes a strain gauge to sense user intent, a Kalman filter to estimate the user’s input to the system, and an LQ-based controller that will weigh pure amplification of the user’s forces with tracking the ideal gait trajectory. This method is implemented in a simulation that showed the user’s input can be estimated under reasonable noise assumptions. This estimate is then supplied to the LQ-based controller with cost function weights on tracking, amplification, and motor input. Varying these weights changes the motor input torque profile to be smoother for the pilot’s comfort or better for tracking performance. These weights can be used to simply and quickly personalize the exoskeleton’s effect for each pilot. The LQ controller is found to yield a smooth torque profile to the user when compared to a PD trajectory tracking controller.

Copyright © 2014 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In