Discovering Exoskeleton Control Strategies that Augment ... fileRoberto Quesada Kirby Witte Juanjuan...
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Electroadhesive Clutch light-weight end-effector bowden-cable transmission motor and controller Universal Device Emulators Work vs. Torque Assistance Ankle Exoskeleton End-Effectors Unpowered Exoskeleton Human-in-the-Loop Optimization Discovering Exoskeleton Control Strategies that Augment Locomotor Performance Rachel W. Jackson and Steve H. Collins Experimental Biomechatronics Lab, Carnegie Mellon University Outstanding mechatronic performance; versatile experimental tools Off-board motor and control hardware; flexible tether to end-effector Lightweight, instrumented, comfortable High peak torque and bandwidth; low torque tracking errors Comparison of Torque Control Methods Proportional control with damping injection compensated by iterative learning is best! Acknowledgments Easier to derive benefit with work input Subtle differences in assistance matter Device behavior systematically varied during use to maximize human performance Algorithm: Discover device control parameters that minimize metabolic rate Electrostatic adhesion between dielectric-coated, thin electrode sheets High torque density; low power consumption Lightweight, elastic device uses mechanical clutch to engage and disengage spring Reduces metabolic cost of walking by 7%! Josh Caputo Tiayao Chen Vincent Chiu Lizmarie C. Ortiz Stuart Diller Evan Dvorak Blair Emanuel Pieter Fiers James Gabriel Rachel Jackson Myunghee Kim Philippe Malcolm Biju Oobi Michiel Plooij Katherine Poggensee Roberto Quesada Kirby Witte Juanjuan Zhang This material is based upon work supported by the National Science Foundation under Grant No. IIS-1355716 And many others… References: Zhang, J., Cheah, C. C., and Collins, S. H. (2016) Torque control in legged locomotion. In Bio-Inspired Legged Locomotion: Concepts, Control and Implementation, eds. Sharbafi, M., Seyfarth, A., Elsevier, in press; Diller, S., Majidi, C., Collins, S. H. (2016) A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation. In Proceedings International Conference on Robotics and Automation, pages 682-689; Jackson, R. W., Collins, S. H. (2015) An experimental comparison of the relative benefits of work and torque assistance in ankle exoskeletons. Journal of Applied Physiology, 119:541-557; Collins, S. H., Wiggin, M. B., Sawicki, G. S. (2015) Reducing the energy cost of human walking using an unpowered exoskeleton. Nature, 522:212-215; Caputo, J. M., Collins, S. H. (2014) A universal ankle-foot prosthesis emulator for human locomotion experiments. Journal of Biomechanical Engineering, 136:035002; Witte, K. A., Zhang, J., Jackson, R. W., Collins, S.H. (2015) Design of two lightweight, high- bandwidth torque-controlled ankle exoskeletons. In Proceedings IEEE International Conference on Robotics and Automation, pages 1223-1228. [Caputo & Collins (2014) J. Biomech. Eng.] [Witte et al. (2015) ICRA] [Jackson & Collins (2015) J. Appl. Physiol.] [Zhang et al. (2014) Bio-Insp. Legged Locomotion] [Zhang et al. in preparation] [Diller et al. (2016) ICRA] [Collins et al. (2015) Nature]
Transcript of Discovering Exoskeleton Control Strategies that Augment ... fileRoberto Quesada Kirby Witte Juanjuan...
Electroadhesive Clutch
light-weight end-effector
bowden-cabletransmission
motor and controller
Universal Device Emulators Work vs. Torque AssistanceAnkle Exoskeleton End-Effectors
Unpowered Exoskeleton
Human-in-the-Loop Optimization
Discovering Exoskeleton Control Strategies that Augment Locomotor Performance
Rachel W. Jackson and Steve H. Collins Experimental Biomechatronics Lab, Carnegie Mellon University
Outstanding mechatronic performance; versatile experimental tools
Off-board motor and control hardware; flexible tether to end-effector
Lightweight, instrumented, comfortable
High peak torque and bandwidth; low torque tracking errors
Comparison of Torque Control MethodsProportional control with damping injection compensated by iterative learning is best!
Acknowledgments
Easier to derive benefit with work input
Subtle differences in assistance matter
Device behavior systematically varied during use to maximize human performance
Algorithm: Discover device control parameters that minimize metabolic rate
Electrostatic adhesion between dielectric-coated, thin electrode sheets
High torque density; low power consumption
Lightweight, elastic device uses mechanical clutch to engage and disengage spring
Reduces metabolic cost of walking by 7%! Josh Caputo
Tiayao Chen
Vincent Chiu
Lizmarie C. Ortiz
Stuart Diller
Evan Dvorak
Blair Emanuel
Pieter Fiers
James Gabriel
Rachel Jackson
Myunghee Kim
Philippe Malcolm
Biju Oobi
Michiel Plooij
Katherine Poggensee
Roberto Quesada
Kirby Witte
Juanjuan Zhang
This material is based upon work supported by the Na t iona l Sc ience Foundation under Grant No. IIS-1355716
And many others…
References: Zhang, J., Cheah, C. C., and Collins, S. H. (2016) Torque control in legged locomotion. In Bio-Inspired Legged Locomotion: Concepts, Control and Implementation, eds. Sharbafi, M., Seyfarth, A., Elsevier, in press; Diller, S., Majidi, C., Collins, S. H. (2016) A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation. In Proceedings International Conference on Robotics and Automation, pages 682-689; Jackson, R. W., Collins, S. H. (2015) An experimental comparison of the relative benefits of work and torque assistance in ankle exoskeletons. Journal of Applied Physiology, 119:541-557; Collins, S. H., Wiggin, M. B., Sawicki, G. S. (2015) Reducing the energy cost of human walking using an unpowered exoskeleton. Nature, 522:212-215; Caputo, J. M., Collins, S. H. (2014) A universal ankle-foot prosthesis emulator for human locomotion experiments. Journal of Biomechanical Engineering, 136:035002; Witte, K. A., Zhang, J., Jackson, R. W., Collins, S.H. (2015) Design of two lightweight, high-bandwidth torque-controlled ankle exoskeletons. In Proceedings IEEE International Conference on Robotics and Automation, pages 1223-1228.
[Caputo & Collins (2014) J. Biomech. Eng.]
[Witte et al. (2015) ICRA] [Jackson & Collins (2015) J. Appl. Physiol.]
[Zhang et al. (2014) Bio-Insp. Legged Locomotion] [Zhang et al. in preparation]
[Diller et al. (2016) ICRA] [Collins et al. (2015) Nature]
