Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors
Characterizing Intent Changes in Exoskeleton-Assisted Walking Through Onboard Sensors
复制标题
通过板载传感器表征外骨骼辅助行走的意图变化
DOI：
10.1109/icorr.2019.8779503
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Wensing, Patrick M.
中科院分区：
文献类型：
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作者：
Gambon, Taylor M.;Schmiedeler, James P.;Wensing, Patrick M.
机器人外骨骼是肌肉骨骼损伤后康复和运动的一种有前途的技术，但它们在物理治疗诊所之外的采用受到用于识别和结合用户步态意图的相对原始的方法的限制。已经使用肌电图和脑电图信号证明了各种意图检测方法。这些技术直接感测人，但是引入了穿戴/脱下设备和测量一致性的复杂性。相比之下，外骨骼上的传感器避免了这些复杂性，而是通过人机接口间接地感测人类。该试点研究检查了机载传感器是否可以单独识别用户意图。关节位置和命令的电机电流进行比较之前和之后的用户的预期步态速度的变化。初步的实验结果证实，这些措施是显着不同的意图改变后，健全和非健全的用户。研究结果表明，意图检测仅使用机载传感器是可能的，但意图信号取决于外骨骼控制设置，用户能力和时间因素。
Robotic exoskeletons are a promising technology for rehabilitation and locomotion following musculoskeletal injury, but their adoption outside the physical therapy clinic has been limited by relatively primitive methods for identifying and incorporating the user's gait intentions. Various intent detection approaches have been demonstrated using electromyography and electroencephalography signals. These technologies sense the human directly but introduce complications for donning/doffing the device and in measurement consistency. By contrast, sensors onboard the exoskeleton avoid these complications but sense the human indirectly via the human-robot interface. This pilot study examines if onboard sensors alone may enable identification of user intent. Joint positions and commanded motor currents are compared prior to and after changes in the user's intended gait speed. Preliminary experimental results confirm that these measures are significantly different following intent changes for both able-bodied and non-able-bodied users. The findings suggest that intent detection is possible with onboard sensors alone, but the intent signals depend on exoskeleton control settings, user ability, and temporal considerations.