Design and implementation of a stumble recovery controller for a knee exoskeleton
Maura Eveld,Shane King,Karl Zelik,Michael Goldfarb,Maura Eveld,Shane King,Karl Zelik,Michael Goldfarb
This paper presents a stumble recovery controller for a knee exoskeleton that detects a stumble perturbation; selects an anticipated recovery strategy; and provides appropriate recovery assistance. In order to assess the efficacy of the controller in providing an assistive response to a stumble perturbation, the controller was implemented in a knee exoskeleton and evaluated in a single healthy adu...
