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Stabilité Posturale d’un Exosquelette Actif de Jambes

Abstract : The postural stability of leg exoskeletons, no matter their purposes (medical, military or civil), is a real issue since the user is fastened to them. Indeed, in order to respect the will of the user and his movements to the maximum, we have to study the system balance. Therefore, the purpose of this thesis is to develop balance strategies for a leg exoskeleton designed for industrial applications such as static work. It is about assisting the balance of the coupled system (user +exoskeleton) by dealing with the exoskeleton’s balance subjected to the user’s action. We present a balance control which is inspired by control methods developed by CEA-LIST for the Hercule exoskeleton, as well as by human balance strategies. It is mainly based on the instantaneous capture point concept. The first contribution of this thesis is the application of a classical instantaneous capture point control to a leg exoskeleton that assists a user. The user’s intention is first detected through the position of the instantaneous capture point and the assistance provided by the exoskeleton differs. The second contribution focuses on how we candistribute the effort to the legs. The experience of the «Master-Slave » control of CEA-LIST showed that the main difficulty, for a user, is to handle the weight transfer in order to take the swing leg off and make a step. We suggest a newleg distribution, that is able to anticipate a step. The last contribution is related to the underactuation of the exoskeleton in the double support phase. We propose an optimization algorithm that aims at following the leg distribution, and at managing the interaction forces between the user and the exoskeleton.
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Submitted on : Thursday, June 6, 2019 - 5:15:08 PM
Last modification on : Wednesday, April 27, 2022 - 3:51:11 AM


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  • HAL Id : tel-01714461, version 2


Vaiyee Huynh. Stabilité Posturale d’un Exosquelette Actif de Jambes. Automatique / Robotique. École centrale de Nantes, 2017. Français. ⟨NNT : 2017ECDN0035⟩. ⟨tel-01714461v2⟩



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