Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX)

By H. Kazerooni, Ryan Steger, Lihua Huang. Int. J. Robotics Res., 2006

400 citations recorded by the source corpus.

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Recent developments and challenges of lower extremity exoskeletons (2015, methodology): “For example, BLEEX is controlled with a hybrid position and force controller, which is only based on the motion data measured from the exoskeleton [66].”
Review of assistive strategies in powered lower-limb orthoses and exoskeletons (2015, methodology): “In another work, BLEEX is controlled by means of a hybrid controller [69].”
A Human--Exoskeleton Interface Utilizing Electromyography (2008, background): “…systems are not directly coupled to the operator and the utilized dynamic models are very sensitive to kinematic measurements and to changes in the masses of operators, exoskeletons, payloads, and to external contact forces that have not been modeled or have not been accurately measured [17], [18].”
Control strategies for active lower extremity prosthetics and orthotics: a review (2015, methodology): “overloading/saturating the actuator [137,171,215], failure of an undera ctuated system to achieve its desired state, power failures due to a loss of power to the actuator or to the c ntroller [137,232], and controller failures due to software bugs or overloaded computational res ources [60].”
Intention-based walking support for paraplegia patients with Robot Suit HAL (2007, background): “Keywords: Robot suit; paraplegia; walking support; intention estimation; floor reaction force.”