A Caltech Library Service

Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking

Harib, Omar and Hereid, Ayonga and Agrawal, Ayush and Gurriet, Thomas and Finet, Sylvain and Boeris, Guilhem and Duburcq, Alexis and Mungai, M. Eva and Masselin, Mattieu and Ames, Aaron D. and Sreenath, Koushil and Grizzle, Jessy W. (2018) Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking. IEEE Control Systems Magazine, 38 (6). pp. 61-87. ISSN 0272-1708. doi:10.1109/mcs.2018.2866604.

[img] PDF - Submitted Version
See Usage Policy.


Use this Persistent URL to link to this item:


"I will never forget the emotion of my first steps […]," were the words of Fran?oise, the first user during initial trials of the exoskeleton ATALANTE [1]. "I am tall again!" were the words of Sandy (the fourth user) after standing up in the exoskeleton. During these early tests, complete paraplegic patients dynamically walked up to 10 m without crutches or other assistance using a feedback control method originally invented for bipedal robots. As discussed in "Summary," this article describes the hardware (shown in Figure 1) that was designed to achieve hands-free dynamic walking, the control laws that were deployed (and those being developed) to provide enhanced mobility and robustness, and preliminary test results. In this article, dynamic walking refers to a motion that is orbitally stable as opposed to statically stable.

Item Type:Article
Related URLs:
URLURL TypeDescription Paper
Harib, Omar0000-0001-9594-0967
Hereid, Ayonga0000-0002-4156-2013
Gurriet, Thomas0000-0002-5240-3720
Ames, Aaron D.0000-0003-0848-3177
Grizzle, Jessy W.0000-0001-7586-0142
Additional Information:© 2018 IEEE. Date of publication: 13 November 2018. The U.S. investigators are covered under IRB Protocol Number 16-0693. The French investigators are covered under CPP Ile de France XI, Number 16041. The authors thank the entire Wandercraft team who designed ATALANTE and implemented and tested the control algorithms used in the experiments. Additionally, the authors are grateful to Laurent Praly and Nicolas Petit, researchers at CAS (Mines ParisTech, PSL Research University) for their scientific support since the founding of Wandercraft. The authors thank Xingye (Dennis) Da for his consultation on G-HZD. The work of A. Hereid was supported by the National Science Foundation (NSF) under Grant CPS-1239037. The work of O. Harib and J.W. Grizzle was supported in part by NSF Grant NRI-1525006 and in part by a gift from Ford Motor Company. M.E. Mungai is supported by a University of Michigan, Ann Arbor, fellowship. The work of A. Agrawal and K. Sreenath is supported by NSF Grant IIS-1526515. The work of T. Gurriet and A.D. Ames was supported by NSF NRI Award 1526519.
Funding AgencyGrant Number
Ford Motor CompanyUNSPECIFIED
University of MichiganUNSPECIFIED
Issue or Number:6
Record Number:CaltechAUTHORS:20181127-081153712
Persistent URL:
Official Citation:O. Harib et al., "Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable, Hands-Free Dynamic Walking," in IEEE Control Systems Magazine, vol. 38, no. 6, pp. 61-87, Dec. 2018. doi: 10.1109/MCS.2018.2866604
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:91206
Deposited By: Tony Diaz
Deposited On:27 Nov 2018 17:26
Last Modified:16 Nov 2021 03:39

Repository Staff Only: item control page