Control strategy for an assistive exoskeleton for sit-to-stand transition

Gaurav Patil, Lillian M. Rigoli, Ameya Chamnikar, Amanda Miller, Anca Ralescu, Adam W. Kiefer, Michael J. Richardson, Tamara Lorenz, Manish Kumar

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

1 Citation (Scopus)


Approximately 1.5 million senior citizens live under nursing supervision, and most require assistance with at least one or more Activities of Daily Living (ADL). These include transferring in and out of chairs, beds and toilets, which necessitates the ability to perform sit-to-stand transitions. The sit-to-stand transition is a complex full-body activity that requires the synergistic coordination of the upper and lower limbs and trunk. This paper presents a model-based control approach for an exoskeleton device that can provide assistance at the ankle, knee, and hip joints. Validation of the controller is based on simulations on a four-link model of the human body. The results show that the control strategy is successful for different sit-to-stand transition speeds, and when the user is providing only a part of the required torques or has a single weak joint. The results also demonstrate the effectiveness of the proposed control strategy in the presence of modeling error that provides further support for the robustness of this approach.

Original languageEnglish
Title of host publicationProceedings of the ASME 10th Annual Dynamic Systems and Control Conference
Subtitle of host publicationDSCC2017
Place of PublicationNew York, N.Y
PublisherAmerican Society of Mechanical Engineers
Number of pages10
ISBN (Electronic)9780791858271
Publication statusPublished - 2017
Externally publishedYes
EventASME 2017 Dynamic Systems and Control Conference, DSCC 2017 - Tysons, United States
Duration: 11 Oct 201713 Oct 2017


ConferenceASME 2017 Dynamic Systems and Control Conference, DSCC 2017
Country/TerritoryUnited States


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