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Petri Nets in Discrete-Event and Hybrid Systems Modelling, Analysing, Performance Evaluation and Control Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Influence of Exoskeleton Parameters Calibration Inaccuracies on the Step Length Error

Authors : Rafał Kabaciński, Mateusz Kowalski, Piotr Kaczmarek

Published in: Automation 2017

Publisher: Springer International Publishing

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Abstract

While exoskeletons for paraplegic users are used nowadays only in laboratory environments for therapy, their use in less orderly environments or for climbing stairs is still troublesome for operators. One of the factors is the high step length variance. In this paper, the analysis of the influence of exoskeleton parameters calibration inaccuracies on the sagittal step length error in regard to the different dimensions and programmed step lengths is performed on CIE Exoskeleton kinematic model. Results show that the exoskeleton parameters calibration inaccuracies have a significant influence on the step length error. The exoskeleton segments lengths, have to be measured with at least millimeter accuracy, and special care is advised in case of the rigidity of the back segment of the exoskeleton.

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previous chapter Development of Vertical Movement Controller for Multirotor UAVs
next chapter Multirotor Aerial Platform with Manipulation System - Static Disturbances
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Metadata
Title
Influence of Exoskeleton Parameters Calibration Inaccuracies on the Step Length Error
Authors
Rafał Kabaciński
Mateusz Kowalski
Piotr Kaczmarek
Copyright Year
2017
Book
Automation 2017

Print ISBN: 978-3-319-54041-2

Electronic ISBN: 978-3-319-54042-9

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-54042-9_32

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