This paper describes the implementation of a movement control method for lower limb exoskeletons with single-joint actuation. In such applications, the single-joint must coordinate movement with other non-controlled joints. The authors have previously proposed a multi-joint control method called a flow controller, which provides several desirable characteristics for such assistance. In this paper, the authors adapt the fundamentally multi-joint flow control approach to a system with a single actuated joint, but with multiple movement degrees of freedom. The single degree of actuation flow control method was implemented on a representative system, specifically a knee exoskeleton that coordinates assistance with ipsilateral thigh movement during walking. The ability of the controller and knee exoskeleton to appropriately influence knee movement was evaluated in level walking experiments on three subjects with unilateral lower-limb impairment. Results show the device and controller provide improvements in knee movement in all subjects. Subjective feedback from the subjects indicates a high level of comfort with the controller.

中文翻译：

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流量控制的单关节实现：为行动不便人士提供膝关节步行辅助


本文描述了一种单关节驱动下肢外骨骼运动控制方法的实现。在此类应用中，单关节必须与其他非受控关节协调运动。作者之前提出了一种称为流量控制器的多关节控制方法，它为此类辅助提供了几个理想的特性。在本文中，作者将基本的多关节流量控制方法应用于具有单个驱动关节但具有多个运动自由度的系统。单度驱动流量控制方法是在代表性系统上实现的，特别是在行走过程中协调同侧大腿运动辅助的膝外骨骼。在三名单侧下肢损伤受试者的水平行走实验中评估了控制器和膝外骨骼适当影响膝关节运动的能力。结果显示，该设备和控制器可以改善所有受试者的膝盖运动。受试者的主观反馈表明对控制器的舒适度很高。