Lower-limb-Exoskeleton-controller

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Lower-limb-Exoskeleton-controller

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# Lower-limb-Exoskeleton-controller

This project was done by Damien GUENERS as part of end of study internship supervised by Gijs Van Oort from the University of Twente.
This is a simulation of a gait controller for a lower limb exoskeleton based on the Divergent Component of Motion.
The SimMechanics body model is a modified version of M.Dekker model with 10 DoF.
The controller uses the Divergent Component of Motion from J.Englsberger.

Articles used for the project:
- T.Koolen et al. Design of a Momentum-Based Control Framework and Application to the Humanoid Robot Atlas, 2016.
- J.Pratt et al. Capture Point: A Step toward Humanoid Push Recovery, 2006.
- L.Hof. The 'extrapolated center of mass' concept suggests a simple control of balance in walking, 2007.
- J.Englsberger et al. Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion, 2015.
- M.Dekker et al. An inverse Kinematics-based foot placement controller for a six degree of freedom lower extremity exoskeleton, 2015.
- S.Wang et al. Design and Control of the MINDWALKER Exoskeleton, 2015.

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