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Minimum-Time and Minimum-Jerk Gait Planning in Joint Space for Assistive Lower Limb Exoskeleton

Journal of Bionic Engineering 2023年第5期20卷 2164-2178页

作者： Habib Mohamad sadjaad ozgoli Fadi Motawej Department of Electrical and Computer Engineering Tarbiat Modares UniversityTehran14117-13116Iran Department of Mechatronics Engineering Tishreen UniversityLattakia0096341Syria

Assistive lower limb exoskeleton robot has been developed to help paraplegic patients walk again.A gait planning method of this robot must be able to plan a gait based on gait parameters,which can be changed during the stride according to human intention or walking *** gait is usually planned in cartesian space,which has shortcomings such as singularities that may occur in inverse kinematics equations,and the angular velocity of the joints cannot be entered into the ***,it is vital to have a gait planning method in the joint *** this paper,a minimum-time and minimum-jerk planner is proposed for the robot *** do so,a third-order system is defined,and the cost function is introduced to minimize the jerk of the joints throughout the *** minimum time required is calculated to keep the angular velocity trajectory within the range specified by the motor’s maximum *** conditions of the joints are determined to secure backward balance and fulfill gait ***,the proposed gait planning method is tested by its implementation on the Exoped®exoskeleton.

关键词： Bionic robot Gait planning Optimization Complete paraplegic Lower limb exoskeleton

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Delay-Independent Robust Stability Analysis of Teleoperation

Delay-Independent Robust Stability Analysis of Teleoperation

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2011 Chinese Control and Decision Conference（CCDC）

作者： Masoumeh Azadegan sadjaad ozgoli Hamid Reza Taghirad Control of Communication Networks Lab Tarbiat Modarres University Department of Control Tarbiat Modarres University Department of Control K. N. Toosi University of Technology

This paper considers the robust stability of uncertain teleoperation *** stability conditions are derived in terms of LMI by representing the teleoperation scheme in retarded form of time-delay *** choosing Lyapunov-Krasovski functional,a delay-independent robust stability criterion is *** show that the teleoperation system is stable and has good performance under specific LMI *** the given controller parameters,stability of system is guaranteed in the presence of any value of delay and admissible *** evaluate the theoretical analysis,Numerical simulations are performed.

关键词： Teleoperation Delay Robust Stability LMI

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