Oscillator-based assistance of cyclical movements: model-based and model-free approaches

Autor: Maria Chiara Carrozza, Renaud Ronsse, Tommaso Lenzi, Nicola Vitiello, Edwin H.F. van Asseldonk, Herman van der Kooij, Stefano Marco Maria De Rossi, Jesse van den Kieboom, Bram Koopman, Auke Jan Ijspeert
Přispěvatelé: Faculty of Engineering Technology
Jazyk: angličtina
Rok vydání: 2018
Předmět:
Male
0209 industrial biotechnology
Engineering
Adaptive oscillator
Walking
02 engineering and technology
Powered Ankle Exoskeletons
Emg
020901 industrial engineering & automation
Gait (human)
Rehabilitation Robots
Metabolic cost
Compliant
Gait
Signal processing
Movement (music)
Signal Processing
Computer-Assisted
METIS-282283
Robotics
Adaptation
Physiological
Computer Science Applications
Exoskeleton
IR-98205
User assistance
Female
Encoder
Adult
Design
Movement
0206 medical engineering
Biomedical Engineering
Models
Biological
Young Adult
Biological Clocks
Humans
Man-Machine Systems
Simulation
Assistance
Electromyography
business.industry
SIGNAL (programming language)
Spinal-Cord
Control engineering
Frequency
Self-Help Devices
020601 biomedical engineering
Leg Exoskeleton
Central Pattern Generators
Robot
business
Envelope (motion)
Zdroj: Medical & biological engineering & computing, 49(10), 1173-1185. Springer
ISSN: 0140-0118
Popis: In this article, we propose a new method for providing assistance during cyclical movements. This method is trajectory-free, in the sense that it provides user assistance irrespective of the performed movement, and requires no other sensing than the assisting robot's own encoders. The approach is based on adaptive oscillators, i.e., mathematical tools that are capable of learning the high level features (frequency, envelope, etc.) of a periodic input signal. Here we present two experiments that we recently conducted to validate our approach: a simple sinusoidal movement of the elbow, that we designed as a proof-of-concept, and a walking experiment. In both cases, we collected evidence illustrating that our approach indeed assisted healthy subjects during movement execution. Owing to the intrinsic periodicity of daily life movements involving the lower-limbs, we postulate that our approach holds promise for the design of innovative rehabilitation and assistance protocols for the lower-limb, requiring little to no user-specific calibration.
Databáze: OpenAIRE
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