Subject-Exoskeleton Contact Model Calibration Leads to Accurate Interaction Force Predictions
Subject-Exoskeleton Contact Model Calibration Leads to Accurate Interaction Force Predictions
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DOI：
10.1109/tnsre.2019.2924536
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发表时间：
2019-08-01
影响因子：
4.9
通讯作者：
De Groote, Friedl
中科院分区：
文献类型：
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作者：
Serrancoli, Gil;Falisse, Antoine;De Groote, Friedl
了解人与外骨骼的相互作用力对于评估用户的舒适度和相互作用的有效性至关重要。主体-外骨骼协同运动及其相互作用力可以使用计算建模技术在计算机上预测。我们开发了一个由三个阶段组成的最优控制框架。首先，使用三次实验坐姿-站立试验来校准脚-地（阶段A）和主体-外骨骼（阶段B）接触模型。然后，预测六种不同坐姿-站立试验的协同运动和主体-外骨骼相互作用力（阶段C）。结果表明，所建立的接触模型能较好地再现标定试验的实验运动学（均方根均方差- RMSD -坐标）
Knowledge of human-exoskeleton interaction forces is crucial to assess user comfort and effectiveness of the interaction. The subject-exoskeleton collaborative movement and its interaction forces can be predicted in silico using computational modeling techniques. We developed an optimal control framework that consisted of three phases. First, the foot-ground (Phase A) and the subject-exoskeleton (Phase B) contact models were calibrated using three experimental sit-to-stand trials. Then, the collaborative movement and the subject-exoskeleton interaction forces, of six different sit-to-stand trials were predicted (Phase C). The results show that the contact models were able to reproduce experimental kinematics of calibration trials (mean root mean square differences - RMSD - coordinates