Robust design for the lower extremity exoskeleton under a stochastic terrain by mimicking wolf pack behaviors

Zhonglai Wang, Shui Yu, Leo Yi Chen, Yun Li

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

While kinematics analysis plays an important role in studying human limb motions, existing methods (namely, direct and inverse kinematics) have their deficiencies. To improve, this paper develops a robust design method using artificial intelligence and applies it to the lower extremity exoskeleton design under a stochastic terrain. An inverse kinematic model is first built considering the impact on human's comfort from the stochastic terrain. Then, a robust design model is constructed based on the inverse kinematic model, where the design framework mimics wolf pack behaviors and the robust design problem is thus solved for keeping probabilistic consistency between the exoskeleton and its wearer. A case study validates the effectiveness of the developed robust method and algorithm, which ensures walking comfort under the stochastic terrain within the validity of simulations.

LanguageEnglish
Pages30714-30725
Number of pages12
JournalIEEE Access
Volume6
DOIs
Publication statusPublished - 18 May 2018

Fingerprint

Inverse kinematics
Artificial intelligence
Kinematics

Keywords

  • inverse kinematics
  • lower extremity exoskeleton
  • robust design
  • stochastic terrain
  • wolf packs

Cite this

Wang, Zhonglai ; Yu, Shui ; Chen, Leo Yi ; Li, Yun. / Robust design for the lower extremity exoskeleton under a stochastic terrain by mimicking wolf pack behaviors. In: IEEE Access. 2018 ; Vol. 6. pp. 30714-30725.
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Robust design for the lower extremity exoskeleton under a stochastic terrain by mimicking wolf pack behaviors. / Wang, Zhonglai; Yu, Shui; Chen, Leo Yi; Li, Yun.

In: IEEE Access, Vol. 6, 18.05.2018, p. 30714-30725.

Research output: Contribution to journalArticle

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