Robin Parmentier

Robotics and autonomous systems


Graduation date:

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MORE | Spring 2020

Sensing and Controls of an Assistive Knee Exoskeleton

Assistive exoskeletons are an increasingly valuable rehabilitation tool for patients with neurological damage. However, high level assistive control of exoskeletons remains a challenge. Many different sensors must work in concert to both control the exoskeleton, and determine the intention of the human wearer. This project implements an advanced sensor system and control scheme on a portable, low-cost knee exoskeleton developed for the RISE lab. The wearer’s leg trajectories and gait cycle are measured in real time. A gravity compensation controller assists the wearer during swing phase of their gait, and an impedance controller assists during stance.


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