Delayed Output Feedback Control for Gait Assistance and Resistance Using a Robotic Exoskeleton
Delayed Output Feedback Control for Gait Assistance and Resistance Using a Robotic Exoskeleton
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DOI：
10.1109/lra.2019.2927937
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发表时间：
2019-10-01
影响因子：
5.2
通讯作者：
Shim, Youngbo
中科院分区：
文献类型：
--
作者：
Lim, Bokman;Jang, Junwon;Shim, Youngbo
在这项研究中，我们提出了一种使用机器人外骨骼进行步态辅助和阻力的交互控制框架。我们定义一个平滑状态变量，表示行走时的关节角度运动。此外，设计了具有延迟输出状态的自反馈控制器。通过对状态变量应用适当的时间延迟和正反馈增益或负反馈增益，我们可以稳定地产生辅助或阻力扭矩，而无需任何步态阶段或环境识别。延时自反馈控制器反映了佩戴者关节在每个控制时刻的运动，从而稳定地应对突然的任务转换（例如走-停-走、前进-后退）以及步行速度或环境变化。案例研究涉及膝外骨骼的步态辅助以及髋外骨骼的步态辅助和阻力。我们进行了各种初步测试，包括代谢能量测量以及所生成扭矩曲线的正功率或负功率的比较。结果表明，所提出的步态辅助或阻力训练交互控制方法的灵活性和有效性。
In this study, we propose an interaction control framework for gait assistance and resistance using a robotic exoskeleton. We define a smoothed state variable that represents joint angle movements while walking. Furthermore, a self-feedback controller is designed with the delayed output state. By applying an appropriate time-delay and positive or negative feedback gain to the state variable, we can generate assistive or resistive torque stably without any gait phase or environment recognition. The time-delayed self-feedback controller reflects the movement of the wearer's joints at every moment of control, thereby stably coping with sudden task transitions (e.g., walk-stop-walk, forward-backward walking) as well as walking speed or environment changes. Case studies involved gait assistance with a knee exoskeleton and gait assistance and resistance with a hip exoskeleton. We performed various preliminary tests including metabolic energy measurements and a comparison of the positive or negative power of the generated torque profiles. The results show the flexibility and effectiveness of the proposed interaction control method for gait assistive or resistive training.