Markov Jump Linear Systems-Based Position Estimation for Lower Limb Exoskeletons

Autor(es)

Nogueira, Samuel L. ^[1] ; Siqueira, Adriano A. G. ^{[1, 2, 3]} ; Inoue, Roberto S. ^[4] ; Terra, Marco H. ^{[2, 3, 5]}

Afiliação do(s) autor(es)

^[1] Univ Sao Paulo, Dept Mech Engn, BR-13566590 Sao Carlos, SP - Brazil

^[2] Univ Sao Paulo, Ctr Robot Sao Carlos, BR-13566590 Sao Carlos, SP - Brazil

^[3] Univ Sao Paulo, Ctr Adv Studies Rehabil, BR-13566590 Sao Carlos, SP - Brazil

^[4] Univ Fed Sao Carlos, Dept Elect Engn, BR-13565905 Sao Carlos, SP - Brazil

^[5] Univ Sao Paulo, Dept Elect Engn, BR-13566590 Sao Carlos, SP - Brazil

• Tipo de documento: Artigo Científico
• Fonte: SENSORS; v. 14, n. 1, p. 1835-1849, JAN 2014.
• Citações Web of Science: 9

Resumo

In this paper, we deal with Markov Jump Linear Systems-based filtering applied to robotic rehabilitation. The angular positions of an impedance-controlled exoskeleton, designed to help stroke and spinal cord injured patients during walking rehabilitation, are estimated. Standard position estimate approaches adopt Kalman filters (KF) to improve the performance of inertial measurement units (IMUs) based on individual link configurations. Consequently, for a multi-body system, like a lower limb exoskeleton, the inertial measurements of one link (e. g., the shank) are not taken into account in other link position estimation (e. g., the foot). In this paper, we propose a collective modeling of all inertial sensors attached to the exoskeleton, combining them in a Markovian estimation model in order to get the best information from each sensor. In order to demonstrate the effectiveness of our approach, simulation results regarding a set of human footsteps, with four IMUs and three encoders attached to the lower limb exoskeleton, are presented. A comparative study between the Markovian estimation system and the standard one is performed considering a wide range of parametric uncertainties. (AU)

• Processo FAPESP: 12/05552-9 - Sistema Robusto de Estimativa de Posicionamentos Angulares Absolutos e Forças de Interação para Exoesqueletos de Membros Inferiores
• Beneficiário: Samuel Lourenço Nogueira
• Linha de fomento: Bolsas no Brasil - Doutorado