Switching assistance for exoskeletons during cyclic motions
This paper proposes a novel control algorithm for torque-controlled exoskeletons assisting cyclic movements. The control strategy is based on the injection of energy parcels into the human-robot system with a timing that minimizes perturbations, i.e., when the angular momentum is maximum. Electromyo...
| Main Authors: | , , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2019
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/83521 http://hdl.handle.net/10220/49756 |
| _version_ | 1811682408019263488 |
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| author | Tagliamonte, Nevio Luigi Valentini, Simona Sudano, Angelo Portaccio, Iacopo De Leonardis, Chiara Formica, Domenico Accoto, Dino |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Tagliamonte, Nevio Luigi Valentini, Simona Sudano, Angelo Portaccio, Iacopo De Leonardis, Chiara Formica, Domenico Accoto, Dino |
| author_sort | Tagliamonte, Nevio Luigi |
| collection | NTU |
| description | This paper proposes a novel control algorithm for torque-controlled exoskeletons assisting cyclic movements. The control strategy is based on the injection of energy parcels into the human-robot system with a timing that minimizes perturbations, i.e., when the angular momentum is maximum. Electromyographic activity of main flexor-extensor knee muscles showed that the proposed controller mostly favors extensor muscles during extension, with a statistically significant reduction in muscular activity in the range of 10–20% in 60 out of 72 trials (i.e., 83%), while no effect related to swinging speed was recorded (speed variation was lower than 10% in 92% of the trials). In the remaining cases muscular activity increment, when statistically significant, was less than 10%. These results showed that the proposed algorithm reduced muscular effort during the most energetically demanding part of the movement (the extension of the knee against gravity) without perturbing the spatio-temporal characteristics of the task and making it particularly suitable for application in exoskeleton-assisted cyclic motions. |
| first_indexed | 2024-10-01T03:56:21Z |
| format | Journal Article |
| id | ntu-10356/83521 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:56:21Z |
| publishDate | 2019 |
| record_format | dspace |
| spelling | ntu-10356/835212020-09-26T22:05:09Z Switching assistance for exoskeletons during cyclic motions Tagliamonte, Nevio Luigi Valentini, Simona Sudano, Angelo Portaccio, Iacopo De Leonardis, Chiara Formica, Domenico Accoto, Dino School of Mechanical and Aerospace Engineering Robotics Research Centre Assistive Exoskeleton Engineering::Mechanical engineering Adaptive Controller This paper proposes a novel control algorithm for torque-controlled exoskeletons assisting cyclic movements. The control strategy is based on the injection of energy parcels into the human-robot system with a timing that minimizes perturbations, i.e., when the angular momentum is maximum. Electromyographic activity of main flexor-extensor knee muscles showed that the proposed controller mostly favors extensor muscles during extension, with a statistically significant reduction in muscular activity in the range of 10–20% in 60 out of 72 trials (i.e., 83%), while no effect related to swinging speed was recorded (speed variation was lower than 10% in 92% of the trials). In the remaining cases muscular activity increment, when statistically significant, was less than 10%. These results showed that the proposed algorithm reduced muscular effort during the most energetically demanding part of the movement (the extension of the knee against gravity) without perturbing the spatio-temporal characteristics of the task and making it particularly suitable for application in exoskeleton-assisted cyclic motions. Published version 2019-08-23T02:05:57Z 2019-12-06T15:24:45Z 2019-08-23T02:05:57Z 2019-12-06T15:24:45Z 2019 Journal Article Tagliamonte, N. L., Valentini, S., Sudano, A., Portaccio, I., De Leonardis, C., Formica, D., & Accoto, D. (2019). Switching Assistance for Exoskeletons During Cyclic Motions. Frontiers in Neurorobotics, 13, 41-. doi:10.3389/fnbot.2019.00041 https://hdl.handle.net/10356/83521 http://hdl.handle.net/10220/49756 10.3389/fnbot.2019.00041 en Frontiers in Neurorobotics © 2019 Tagliamonte, Valentini, Sudano, Portaccio, De Leonardis, Formica and Accoto. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. 13 p. application/pdf |
| spellingShingle | Assistive Exoskeleton Engineering::Mechanical engineering Adaptive Controller Tagliamonte, Nevio Luigi Valentini, Simona Sudano, Angelo Portaccio, Iacopo De Leonardis, Chiara Formica, Domenico Accoto, Dino Switching assistance for exoskeletons during cyclic motions |
| title | Switching assistance for exoskeletons during cyclic motions |
| title_full | Switching assistance for exoskeletons during cyclic motions |
| title_fullStr | Switching assistance for exoskeletons during cyclic motions |
| title_full_unstemmed | Switching assistance for exoskeletons during cyclic motions |
| title_short | Switching assistance for exoskeletons during cyclic motions |
| title_sort | switching assistance for exoskeletons during cyclic motions |
| topic | Assistive Exoskeleton Engineering::Mechanical engineering Adaptive Controller |
| url | https://hdl.handle.net/10356/83521 http://hdl.handle.net/10220/49756 |
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