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Table 3 High-level controller: event detection/prediction

From: Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

event

detection/prediction

e_start_sit_to_stand

\(\dot {q}_{hip} > 14.3 \deg /s\)

predict seat-off time tso

t@ max(qhip,predicted)

e_seatoff_detected

max(qhip,buffered[t])== max(qhip,buffered[t + 1])

e_detect_start_assistance

tsotcurrent<0.11s or ANN [54]

e_assistance_done

τas==0

e_finish_sit_to_stand

qi close to qi,stand

e_start_stand_to_sit

qknee<−28.6 deg and \(\dot {q}_{knee} < -17.2 \deg /s\)

e_seatdown_detected

qknee<−68.8 deg

e_finish_stand_to_sit

qknee<−77.3 deg and \(|\dot {q}_{knee}| < 5.7 \deg /s\)

e_error

any encoder, controller or prediction error