Experimental Implementation of Underactuated Potential Energy Shaping on a Powered Ankle-Foot Orthosis.
Experimental Implementation of Underactuated Potential Energy Shaping on a Powered Ankle-Foot Orthosis.
复制标题
动力踝足矫形器上欠驱动势能整形的实验实施。
DOI：
10.1109/icra.2016.7487529
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Gregg,RobertD
中科院分区：
文献类型：
--
作者：
Lv,Ge;Zhu,Hanqi;Elery,Toby;Li,Luwei;Gregg,RobertD
康复矫形器/外骨骼的传统控制方法旨在复制正常运动学，因此属于运动学控制的范畴。这种控制范式取决于预定义的参考轨迹，这可能很难在不同的运动任务和人类受试者之间进行调整。另一种控制类别是动力学控制，它强制执行动力学目标（例如扭矩或能量）而不是运动轨迹，这可以为用户提供灵活的学习环境，同时使治疗师能够腾出时间进行纠正。我们提出，属于运动控制范畴的欠驱动势能整形理论可用于为中风步态康复生成虚拟体重支持。在推导非线性控制定律并在类人两足模型上进行模拟后，我们在专为测试扭矩控制策略而设计的动力踝足矫形器上实现了该控制器。对身体健全的人类受试者的实验结果证明了控制方法对于正向和负向虚拟体重增加的可行性。
Traditional control methodologies of rehabilitation orthoses/exoskeletons aim at replicating normal kinematics and thus fall into the category of kinematic control. This control paradigm depends on pre-defined reference trajectories, which can be difficult to adjust between different locomotor tasks and human subjects. An alternative control category, kinetic control, enforces kinetic goals (e.g., torques or energy) instead of kinematic trajectories, which could provide a flexible learning environment for the user while freeing up therapists to make corrections. We propose that the theory of underactuated potential energy shaping, which falls into the category of kinetic control, could be used to generate virtual body-weight support for stroke gait rehabilitation. After deriving the nonlinear control law and simulating it on a human-like biped model, we implemented this controller on a powered ankle-foot orthosis that was designed specifically for testing torque control strategies. Experimental results with an able-bodied human subject demonstrate the feasibility of the control approach for both positive and negative virtual body-weight augmentation.