On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX)

By H. Kazerooni, Jean-Louis Racine, Lihua Huang, Ryan Steger. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

626 citations recorded by the source corpus.

How researchers see this paper

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Hybrid Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) (2006, methodology): “First, a novel control architecture was developed that controls the exoskeleton through measurements of the exoskeleton itself (Kazerooni et al. 2005).”
On the Biomimetic Design of the Berkeley Lower Extremity Exoskeleton (BLEEX) (2005, background): “First, a novel control architecture was developed that controls the exoskeleton through measurements of the exoskeleton itself [18].”
On the mechanical design of the Berkeley Lower Extremity Exoskeleton (BLEEX) (2005, background): “The second concern is that this control method has little robustness to parameter variations and therefore requires a relatively good dynamic model of the system [17].”
Compliant actuation of rehabilitation robots (2008, background): “This positive contribution might stem from intrinsic and neuronally coordinated stiffness and damping, and it is for example exploited for the control of BLEEX [32].”
Control strategies for active lower extremity prosthetics and orthotics: a review (2015, positive): “Many classical control strategies employ negative feedback, though the Berkeley Lower Extremity Exoskeleton (BLEEX) employs a positive feedback loop [220,221].”
Review of assistive strategies in powered lower-limb orthoses and exoskeletons (2015, methodology): “The work [24] has presented an assistive strategy for BLEEX based on sensitivity amplification controllers.”