TY - GEN
T1 - Assist-as-needed control of a wearable lightweight knee robotic device
AU - Hunte, Kyle
AU - Chen, Siyu
AU - Yi, Jingang
AU - Su, Hao
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - Knee joint actuation plays a critical role to keep human walking locomotion and balance under abnormal conditions, such as foot slip or work-related musculoskeletal disorders etc. Wearable assistive robotic knee devices provide additional support and actuation for human walkers. We present assist-as-needed control strategy for a lightweight, highly-backdrivable soft knee assistive device. The control design takes advantages of the custom-built high-performance knee assistive device and the muscle synergy-based human walking actuation model. A model predictive control (MPC) design is used for real-time tuning physical human-robot interactions. Human-in-the-loop simulation results are presented to demonstrate the performance of the robotic control systems under normal walking condition.
AB - Knee joint actuation plays a critical role to keep human walking locomotion and balance under abnormal conditions, such as foot slip or work-related musculoskeletal disorders etc. Wearable assistive robotic knee devices provide additional support and actuation for human walkers. We present assist-as-needed control strategy for a lightweight, highly-backdrivable soft knee assistive device. The control design takes advantages of the custom-built high-performance knee assistive device and the muscle synergy-based human walking actuation model. A model predictive control (MPC) design is used for real-time tuning physical human-robot interactions. Human-in-the-loop simulation results are presented to demonstrate the performance of the robotic control systems under normal walking condition.
UR - http://www.scopus.com/inward/record.url?scp=85090380562&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85090380562&partnerID=8YFLogxK
U2 - 10.1109/AIM43001.2020.9159021
DO - 10.1109/AIM43001.2020.9159021
M3 - Conference contribution
AN - SCOPUS:85090380562
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1477
EP - 1482
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -