Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking

摘要

"I will never forget the emotion of my first steps […]," were the words of Fran?oise, the first user during initial trials of the exoskeleton ATALANTE [1]. "I am tall again!" were the words of Sandy (the fourth user) after standing up in the exoskeleton. During these early tests, complete paraplegic patients dynamically walked up to 10 m without crutches or other assistance using a feedback control method originally invented for bipedal robots. As discussed in "Summary," this article describes the hardware (shown in Figure 1) that was designed to achieve hands-free dynamic walking, the control laws that were deployed (and those being developed) to provide enhanced mobility and robustness, and preliminary test results. In this article, dynamic walking refers to a motion that is orbitally stable as opposed to statically stable.