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Thesis_Sai_Kiran_Gunti.pdf (2.05 MB)
ETD Abstract Container
Abstract Header
Optimization Based Control Systems to Improve Performance of Exoskeletons
Author Info
GUNTI, SAI KIRAN
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=csu1631658299995955
Abstract Details
Year and Degree
2021, Master of Science in Mechanical Engineering, Cleveland State University, Washkewicz College of Engineering.
Abstract
Advancements in control systems and optimization can potentially be used to enhance the performance of exoskeletons and prostheses in various aspects, such as to improve balance control and gait adaptation. These are the two aims of this thesis. Aim 1 is to improve the balance of an underactuated exoskeleton with full-state feedback. The exoskeleton was modeled as a three-link inverted pendulum with passive stiffness at the ankle and controlled actuations at its other two joints. Though the system has no controlled actuation at its pivot, the system could be stabilized at its equilibrium point by a linear quadratic regulator (LQR) at the other two actuated joints to maintain the upright position against small perturbations. The feedback control parameters were then optimized to further improve the stability of the system. Aim 2 is to improve the gait adaptation in exoskeletal walking. A control strategy based on human-in-the-loop optimization is presented in this thesis. This controller allows the exoskeleton to adapt to the changes in gait pattern and walking speed by optimization of the cost function based on muscle activation and ground reaction force. Simulation and real-time test experimental results of this adaptive controller are shown in this thesis.
Committee
Antonie van den Bogert (Committee Chair)
Eric Schearer (Committee Member)
Ryan Farris (Committee Member)
Pages
64 p.
Subject Headings
Engineering
;
Mechanical Engineering
;
Robotics
Keywords
Control Systems, Exoskeletons, Indego Exoskeleton, Optimization, Extremum Seeking Controller, three-link inverted pendulum, Exoskeleton controls, Underactuated exoskeletons, Adaptive controls
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Citations
GUNTI, S. K. (2021).
Optimization Based Control Systems to Improve Performance of Exoskeletons
[Master's thesis, Cleveland State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=csu1631658299995955
APA Style (7th edition)
GUNTI, SAI KIRAN.
Optimization Based Control Systems to Improve Performance of Exoskeletons.
2021. Cleveland State University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=csu1631658299995955.
MLA Style (8th edition)
GUNTI, SAI KIRAN. "Optimization Based Control Systems to Improve Performance of Exoskeletons." Master's thesis, Cleveland State University, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=csu1631658299995955
Chicago Manual of Style (17th edition)
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Document number:
csu1631658299995955
Download Count:
93
Copyright Info
© 2021, all rights reserved.
This open access ETD is published by Cleveland State University and OhioLINK.