Sensors 2014, 14(1), 1835-1849; doi:10.3390/s140101835

Markov Jump Linear Systems-Based Position Estimation for Lower Limb Exoskeletons

1email, 1,2,* email, 3email and 2,4email
Received: 10 December 2013; in revised form: 16 January 2014 / Accepted: 17 January 2014 / Published: 22 January 2014
(This article belongs to the Special Issue Wearable Gait Sensors)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: In this paper, we deal with Markov Jump Linear Systems-based filtering applied to robotic rehabilitation. The angular positions of an impedance-controlled exoskeleton, designed to help stroke and spinal cord injured patients during walking rehabilitation, are estimated. Standard position estimate approaches adopt Kalman filters (KF) to improve the performance of inertial measurement units (IMUs) based on individual link configurations. Consequently, for a multi-body system, like a lower limb exoskeleton, the inertial measurements of one link (e.g., the shank) are not taken into account in other link position estimation (e.g., the foot). In this paper, we propose a collective modeling of all inertial sensors attached to the exoskeleton, combining them in a Markovian estimation model in order to get the best information from each sensor. In order to demonstrate the effectiveness of our approach, simulation results regarding a set of human footsteps, with four IMUs and three encoders attached to the lower limb exoskeleton, are presented. A comparative study between the Markovian estimation system and the standard one is performed considering a wide range of parametric uncertainties.
Keywords: discrete-time systems; Markovian jump; Kalman filter; ortheses; exoskeleton; wearable robots; lower limbs
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MDPI and ACS Style

Nogueira, S.L.; Siqueira, A.A.G.; Inoue, R.S.; Terra, M.H. Markov Jump Linear Systems-Based Position Estimation for Lower Limb Exoskeletons. Sensors 2014, 14, 1835-1849.

AMA Style

Nogueira SL, Siqueira AAG, Inoue RS, Terra MH. Markov Jump Linear Systems-Based Position Estimation for Lower Limb Exoskeletons. Sensors. 2014; 14(1):1835-1849.

Chicago/Turabian Style

Nogueira, Samuel L.; Siqueira, Adriano A.G.; Inoue, Roberto S.; Terra, Marco H. 2014. "Markov Jump Linear Systems-Based Position Estimation for Lower Limb Exoskeletons." Sensors 14, no. 1: 1835-1849.

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