Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking.
Autonomous multi-joint soft exosuit with augmentation-power-based control parameter tuning reduces energy cost of loaded walking.
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DOI：
10.1186/s12984-018-0410-y
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发表时间：
2018-07-13
影响因子：
5.1
通讯作者：
Walsh CJ
中科院分区：
文献类型：
--
作者：
Lee S;Kim J;Baker L;Long A;Karavas N;Menard N;Galiana I;Walsh CJ
软外装是一种辅助人类运动的最新方法，它通过功能性服装向穿着者施加辅助扭矩。在过去的几年里，人们越来越认识到此类步态辅助设备控制个性化的重要性，以最大限度地为佩戴者带来好处。在本文中，我们提出了自主多关节软外装的更新版本，包括一种在线参数调整方法，该方法可根据正踝关节增强功率为每个个体定制控制参数。柔软的外装套装旨在帮助行走时跖屈、髋部屈曲和髋部伸展。移动驱动系统安装在军用背包上，驱动系统产生的力通过鲍登电缆传输到外装。控制器逐步对鲍登线执行基于力的迭代位置控制，在起步时提供多关节（跖屈和髋部屈曲）辅助，并在早期站立时提供髋部伸展辅助。为了个性化多关节辅助，开发了一种在线参数调整方法，该方法可以定制两个控制参数，以最大限度地提高传递到脚踝的正增强功率。为了研究具有特定佩戴者参数的外骨骼的代谢功效，进行了人体测试，包括背着 6.8 公斤负载的背包在跑步机上以 1.50 m s− 1 的速度行走。七名参与者接受了调整过程，并使用个性化控制参数测量了穿着和不穿着外衣的负重行走的代谢成本。在线参数调整方法能够定制控制参数，为每个人创建正的踝关节增强功率图。特定于受试者的控制参数和由此产生的辅助轮廓形状因研究参与者而异。与不佩戴该设备行走相比，具有穿戴者特定参数的外骨骼显着降低了负载运输的代谢成本，降低了 14.88 ± 1.09% (P = 5 × 10− 5)，与不佩戴该设备的行走相比，降低了 22.03 ± 2.23% (P = 2 × 10− 5)设备未通电时行走。自主多关节软外装具有基于正踝增强力调整的特定于受试者的控制参数，证明了改善人类步行经济性的能力。未来的研究将进一步研究基于增强功率的控制参数调整对佩戴者生物力学和能量学的影响。本文的在线版本 (10.1186/s12984-018-0410-y) 包含补充材料，可供授权用户使用。
Soft exosuits are a recent approach for assisting human locomotion, which apply assistive torques to the wearer through functional apparel. Over the past few years, there has been growing recognition of the importance of control individualization for such gait assistive devices to maximize benefit to the wearer. In this paper, we present an updated version of autonomous multi-joint soft exosuit, including an online parameter tuning method that customizes control parameters for each individual based on positive ankle augmentation power. The soft exosuit is designed to assist with plantarflexion, hip flexion, and hip extension while walking. A mobile actuation system is mounted on a military rucksack, and forces generated by the actuation system are transmitted via Bowden cables to the exosuit. The controller performs an iterative force-based position control of the Bowden cables on a step-by-step basis, delivering multi-articular (plantarflexion and hip flexion) assistance during push-off and hip extension assistance in early stance. To individualize the multi-articular assistance, an online parameter tuning method was developed that customizes two control parameters to maximize the positive augmentation power delivered to the ankle. To investigate the metabolic efficacy of the exosuit with wearer-specific parameters, human subject testing was conducted involving walking on a treadmill at 1.50 m s− 1 carrying a 6.8-kg loaded rucksack. Seven participants underwent the tuning process, and the metabolic cost of loaded walking was measured with and without wearing the exosuit using the individualized control parameters. The online parameter tuning method was capable of customizing the control parameters, creating a positive ankle augmentation power map for each individual. The subject-specific control parameters and resultant assistance profile shapes varied across the study participants. The exosuit with the wearer-specific parameters significantly reduced the metabolic cost of load carriage by 14.88 ± 1.09% (P = 5 × 10− 5) compared to walking without wearing the device and by 22.03 ± 2.23% (P = 2 × 10− 5) compared to walking with the device unpowered. The autonomous multi-joint soft exosuit with subject-specific control parameters tuned based on positive ankle augmentation power demonstrated the ability to improve human walking economy. Future studies will further investigate the effect of the augmentation-power-based control parameter tuning on wearer biomechanics and energetics. The online version of this article (10.1186/s12984-018-0410-y) contains supplementary material, which is available to authorized users.
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使用未经动荡的外骨骼降低人行走的能源成本。
影响因子：
64.8
作者：
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通讯作者：
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影响因子：
5.1
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Malcolm P;Lee S;Crea S;Siviy C;Saucedo F;Galiana I;Panizzolo FA;Holt KG;Walsh CJ
通讯作者：
Walsh CJ