Dataset Information

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons.

ABSTRACT: Augmenting the physical strength of a human operator during unpredictable human-directed (volitional) movements is a relevant capability for several proposed exoskeleton applications, including mobility augmentation, manual material handling, and tool operation. Unlike controllers and augmentation systems designed for repetitive tasks (e.g., walking), we approach physical strength augmentation by a task-agnostic method of force amplification-using force/torque sensors at the human-machine interface to estimate the human task force, and then amplifying it with the exoskeleton. We deploy an amplification controller that is integrated into a complete whole-body control framework for controlling exoskeletons that includes human-led foot transitions, inequality constraints, and a computationally efficient prioritization. A powered lower-body exoskeleton is used to demonstrate behavior of the control framework in a lab environment. This exoskeleton can assist the operator in lifting an unknown backpack payload while remaining fully backdrivable.

SUBMITTER: Thomas GC

PROVIDER: S-EPMC8502972 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature

ACCESS DATA

Publications

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons.

Thomas Gray C GC Campbell Orion O Nichols Nick N Brissonneau Nicolas N He Binghan B James Joshua J Paine Nicholas N Sentis Luis L

Frontiers in robotics and AI 20210927

Augmenting the physical strength of a human operator during unpredictable human-directed (volitional) movements is a relevant capability for several proposed exoskeleton applications, including mobility augmentation, manual material handling, and tool operation. Unlike controllers and augmentation systems designed for repetitive tasks (e.g., walking), we approach physical strength augmentation by a task-agnostic method of force amplification-using force/torque sensors at the human-machine interf ...[more]

PMID: 34646867

Similar Datasets

Project description:Background: Efficient gait assistance by augmentative exoskeletons depends on reliable control strategies. While numerous control methods and their effects on the metabolic cost of walking have been explored in the literature, the use of different exoskeletons and dissimilar protocols limit direct comparisons. In this article, we present and compare two controllers for hip exoskeletons with different synchronization paradigms. Methods: The implicit-synchronization-based approach, termed the Simple Reflex Controller (SRC), determines the assistance as a function of the relative loading of the feet, resulting in an emerging torque profile continuously assisting extension during stance and flexion during swing. On the other hand, the Hip-Phase-based Torque profile controller (HPT) uses explicit synchronization and estimates the gait cycle percentage based on the hip angle, applying a predefined torque profile consisting of two shorter bursts of assistance during stance and swing. We tested the controllers with 23 naïve healthy participants walking on a treadmill at 4 km ⋅ h-1, without any substantial familiarization. Results: Both controllers significantly reduced the metabolic rate compared to walking with the exoskeleton in passive mode, by 18.0% (SRC, p < 0.001) and 11.6% (HPT, p < 0.001). However, only the SRC led to a significant reduction compared to walking without the exoskeleton (8.8%, p = 0.004). The SRC also provided more mechanical power and led to bigger changes in the hip joint kinematics and walking cadence. Our analysis of mechanical powers based on a whole-body analysis suggested a reduce in ankle push-off under this controller. There was a strong correlation (Pearson's r = 0.778, p < 0.001) between the metabolic savings achieved by each participant with the two controllers. Conclusion: The extended assistance duration provided by the implicitly synchronized SRC enabled greater metabolic reductions compared to the more targeted assistance of the explicitly synchronized HPT. Despite the different assistance profiles and metabolic outcomes, the correlation between the metabolic reductions with the two controllers suggests a difference in individual responsiveness to assistance, prompting more investigations to explore the person-specific factors affecting assistance receptivity.

Project description:Lower-limb wearable robotic devices can improve clinical gait and reduce energetic demand in healthy populations. To help enable real-world use, we sought to examine how assistance should be applied in variable gait conditions and suggest an approach derived from knowledge of human locomotion mechanics to establish a 'roadmap' for wearable robot design. We characterized the changes in joint mechanics during walking and running across a range of incline/decline grades and then provide an analysis that informs the development of lower-limb exoskeletons capable of operating across a range of mechanical demands. We hypothesized that the distribution of limb-joint positive mechanical power would shift to the hip for incline walking and running and that the distribution of limb-joint negative mechanical power would shift to the knee for decline walking and running. Eight subjects (6M,2F) completed five walking (1.25 m s-1) trials at -8.53°, -5.71°, 0°, 5.71°, and 8.53° grade and five running (2.25 m s-1) trials at -5.71°, -2.86°, 0°, 2.86°, and 5.71° grade on a treadmill. We calculated time-varying joint moment and power output for the ankle, knee, and hip. For each gait, we examined how individual limb-joints contributed to total limb positive, negative and net power across grades. For both walking and running, changes in grade caused a redistribution of joint mechanical power generation and absorption. From level to incline walking, the ankle's contribution to limb positive power decreased from 44% on the level to 28% at 8.53° uphill grade (p < 0.0001) while the hip's contribution increased from 27% to 52% (p < 0.0001). In running, regardless of the surface gradient, the ankle was consistently the dominant source of lower-limb positive mechanical power (47-55%). In the context of our results, we outline three distinct use-modes that could be emphasized in future lower-limb exoskeleton designs 1) Energy injection: adding positive work into the gait cycle, 2) Energy extraction: removing negative work from the gait cycle, and 3) Energy transfer: extracting energy in one gait phase and then injecting it in another phase (i.e., regenerative braking).

Dataset Information

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons.

Publications

Formulating and Deploying Strength Amplification Controllers for Lower-Body Walking Exoskeletons.

Similar Datasets

OmicsDI is part of the ELIXIR infrastructure

Tweets