Towards Variable Assistance for Lower Body Exoskeletons
This letter presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates t...
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| Vydáno v: | IEEE robotics and automation letters Ročník 5; číslo 1; s. 266 - 273 |
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| Hlavní autoři: | , , , , |
| Médium: | Journal Article |
| Jazyk: | angličtina |
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Piscataway
IEEE
01.01.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
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| ISSN: | 2377-3766, 2377-3766 |
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| Abstract | This letter presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates the spinal learning process of people with a walking impediment when using a lower body exoskeleton. With this as motivation, we present a method to accurately control how much a subject is allowed to deviate from a given gait while ensuring robustness to patient perturbation. This method leverages control barrier functions to force certain joints to remain inside predefined trajectory tubes in a minimally invasive way. The effectiveness of the method is demonstrated experimentally with able-bodied subjects and the Atalante lower body exoskeleton. |
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| AbstractList | This letter presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates the spinal learning process of people with a walking impediment when using a lower body exoskeleton. With this as motivation, we present a method to accurately control how much a subject is allowed to deviate from a given gait while ensuring robustness to patient perturbation. This method leverages control barrier functions to force certain joints to remain inside predefined trajectory tubes in a minimally invasive way. The effectiveness of the method is demonstrated experimentally with able-bodied subjects and the Atalante lower body exoskeleton. |
| Author | Duburcq, Alexis Tucker, Maegan Ames, Aaron D. Gurriet, Thomas Boeris, Guilhem |
| Author_xml | – sequence: 1 givenname: Thomas orcidid: 0000-0002-5240-3720 surname: Gurriet fullname: Gurriet, Thomas email: tgurriet@caltech.edu organization: Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA – sequence: 2 givenname: Maegan orcidid: 0000-0001-7363-6809 surname: Tucker fullname: Tucker, Maegan email: mtucker@caltech.edu organization: Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA – sequence: 3 givenname: Alexis surname: Duburcq fullname: Duburcq, Alexis email: alexis.duburcq@wandercraft.eu organization: Wandercraft, Paris, France – sequence: 4 givenname: Guilhem surname: Boeris fullname: Boeris, Guilhem email: guilhem.boeris@wandercraft.eu organization: Wandercraft, Paris, France – sequence: 5 givenname: Aaron D. orcidid: 0000-0003-0848-3177 surname: Ames fullname: Ames, Aaron D. email: ames@caltech.edu organization: Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA |
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| SubjectTerms | Assistive devices control architectures and programming Control methods Exoskeletons Feedback Gait Leg Legged locomotion Perturbation physically assistive devices Prosthetics Prosthetics and exoskeletons Safety critical Tubes |
| Title | Towards Variable Assistance for Lower Body Exoskeletons |
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