An Energetic Approach to Task-Invariant Ankle Exoskeleton Control.
An Energetic Approach to Task-Invariant Ankle Exoskeleton Control.
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任务不变踝外骨骼控制的一种充满活力的方法。
DOI：
10.1109/iros55552.2023.10342136
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发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Gregg,RobertD
中科院分区：
文献类型：
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作者：
Walters,Katharine;Thomas,GrayC;Lin,Jianping;Gregg,RobertD
机器人踝关节外骨骼已被证明可以减少人类在行走过程中的努力。然而，现有的踝关节外骨骼控制方法在受控实验室环境之外的各种任务中施加仿生扭矩的能力有限。能量整形控制可以提供任务不变的帮助，而无需估计用户的状态，分类任务，或再现预定义的扭矩轨迹。在以前的工作中，我们证明了在膝踝外骨骼上实现的最佳任务不变能量成形控制器减少了某些肌肉在一系列任务中的努力。在本文中，我们将这种方法扩展到踝关节的传感器套件，并在市售的双侧踝关节外骨骼上实现。三个健康的受试者在电路和跑步机上行走的实验表明，控制器可以近似仿生轮廓变化的地形和任务转换，而无需分类任务或切换控制模式。
Robotic ankle exoskeletons have been shown to reduce human effort during walking. However, existing ankle exoskeleton control approaches are limited in their ability to apply biomimetic torque across diverse tasks outside of the controlled lab environment. Energy shaping control can provide task-invariant assistance without estimating the user's state, classifying task, or reproducing pre-defined torque trajectories. In previous work, we showed that an optimally task-invariant energy shaping controller implemented on a knee-ankle ex-oskeleton reduced the effort of certain muscles for a range of tasks. In this paper, we extend this approach to the sensor suite available at the ankle and present its implementation on a commercially-available, bilateral ankle exoskeleton. An experiment with three healthy subjects walking on a circuit and on a treadmill showed that the controller can approximate biomimetic profiles for varying terrains and task transitions without classifying tasks or switching control modes.