The Berkeley Lower Extremity.pdf

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1、TheBerkeleyLowerExtremityExoskeletonThefirstfunctionalload-carryingandenergeticallyautonomousexoskeletonwasdemon-stratedattheUniversityofCalifornia,Berkeley,walkingattheaveragespeedof1.3m/sH.Kazerooni
2.9mphwhilecarryinga34kg
75lbpayload.Fourfundamentaltechnolog

2、iesasso-ciatedwiththeBerkeleylowerextremityexoskeletonweretackledduringthecourseofR.Stegerthisproject.Thesefourcoretechnologiesincludethedesignoftheexoskeletonarchitec-e-mail:exo@berkeley.eduture,controlschemes,abodylocalareanetworktohostthecontrolalgorithm,andas

3、eriesofon-boardpowerunitstopowertheactuators,sensors,andthecomputers.ThisUniversityofCalifornia,Berkeley,papergivesanoverviewofoneofthecontrolschemes.TheanalysishereisanextensionBerkeley,CA94720oftheclassicaldefinitionofthesensitivityfunctionofasystem:theabilityof

4、asystemtorejectdisturbancesorthemeasureofsystemrobustness.Thecontrolalgorithmdevelopedhereincreasestheclosed-loopsystemsensitivitytoitswearer’sforcesandtorqueswith-outanymeasurementfromthewearer(suchasforce,position,orelectromyogramsig-nal).Thecontrolmethodhaslit

5、tlerobustnesstoparametervariationsandthereforerequiresarelativelygooddynamicmodelofthesystem.Thetrade-offsbetweenhavingsensorstomeasurehumanvariablesandthelackofrobustnesstoparametervariationaredescribed.DOI:10.1115/1.21681641Introductionlabor.Itisourvisionthat

6、BLEEXwillprovideaversatileandrealizabletransportplatformformission-criticalequipment.TheprimaryobjectiveoftheBerkeleyLowerExtremityExosk-Thecapabilityofthelowerextremityexoskeletonstemsfromeleton
BLEEXProjectattheUniversityofCalifornia,BerkeleythecombinedbeneÞto

7、fthehumanintellectprovidedbythepilotistodevelopfundamentaltechnologiesassociatedwiththedesignandthestrengthadvantageofferedbytheexoskeleton;inotherandcontrolofenergeticallyautonomouslowerextremityexoskel-words,thehumanprovidesanintelligentcontrolsystemfortheetons

8、thataugmenthumanstrengthandenduranceduringlocomo-exoskeletonwhiletheexoskeletonactuatorsprovidemostofthetion.TheÞrstÞeld-operationallowerextremityexoskeletonis