Browsing by Author "Stewart, Kurt"

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    Multi-objective user tunable interface for assistance control of a lower limb exoskeleton: a step in the right direction
    (University of New Brunswick, 2020) Stewart, Kurt; Sensinger, Jonathon; Diduch, Chris
    The field of assistive lower limb exoskeletons lacks controllers that allow user adjustment according to their needs and desires. This thesis develops and shows simulation evidence for allowing user-intuitive control by providing adjustment of gait based on gait performance measures the user cares about while walking. Using the NSGA-II multiobjective optimization algorithm to generate trajectories for a virtual constraint-based exoskeleton system a lookup table was generated which provides user adjustment of speed, comfort, effort proxy, and natural walking measures. The findings in this thesis demonstrate a variety of gait across these performance measures which can be used to formulate a user-adjustable controller.