Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushi… 展开作者
Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy Grizzle
备注：
Submitted to IEEE Control System Magazine. This version addresses reviewers' concerns about the robustness of the algorithm and the motivation for using such exoskeletons
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We harness the power of modern optimization techniques and supervised machine learning to develop a smooth feedback control policy that provides robust velocity regulation and perturbation rejection. Preliminary evaluation of the stability and robustness of the proposed approach is demonstrated through the Gazebo simulation environment. In addition, preliminary experimental results with (complete) paraplegic individuals are included for the previous version of the controller.
Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton
German Research Center for Artificial Intelligence (DFKI GmbH)（德国人工智能研究中心（DFKI有限公司））；Chalmers University of Technology（查尔姆斯理工大学）；University of Bremen（不来梅大学）
Synthesizing Robust Walking Gaits via Discrete-Time Barrier Functions with Application to Multi-Contact Exoskeleton Locomotion
Georgia Institute of Technology（佐治亚理工学院）；School of Electrical and Computer Engineering（电气与计算机工程学院）；Woodruff School of Mechanical Engineering（伍德拉夫机械工程学院）；California Institute of Technology（加州理工学院）；Department of Computation and Neural Systems（计算与神经系统系）；Department of Mechanical and Civil Engineering（机械与土木工程系）；Department of Control and Dynamical Systems（控制与动力学系）
Neuromechanical model-based adaptive control of bi-lateral ankle exoskeletons: biological joint torque and electromyogram reduction across walking conditions
Deep-Learning Estimation of Weight Distribution Using Joint Kinematics for Lower-Limb Exoskeleton Control
Legs and Walking Lab, Shirley Ryan AbilityLab（腿部与行走实验室，Shirley Ryan AbilityLab）；Center for Robotics and Biosystems, Department of Mechanical Engineering, Northwestern University（机器人与生物系统中心，机械工程系，西北大学）；Shirley Ryan AbilityLab；Biorobotics Institute, Scuola Superiore Sant’Anna（生物机器人研究所，Scuola Superiore Sant’Anna）；Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna（机器人与人工智能卓越部门，Scuola Superiore Sant’Anna）；Shirley Ryan AbilityLab, Center for Robotics and Biosystems, Department of Mechanical Engineering, Department of Biomedical Engineering, and Department of Physical Medicine and Rehabilitation, Northwestern University（Shirley Ryan AbilityLab，机器人与生物系统中心，机械工程系，生物医学工程系，物理医学与康复系，西北大学）
Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
Department of Computation and Neural Systems, Caltech（计算与神经系统系，加州理工学院）；Department of Mechanical and Civil Engineering, Caltech（机械与土木工程系，加州理工学院）；Wandercraft；Department of Computing and Mathematical Sciences, Caltech（计算与数学科学系，加州理工学院）；Department of Control and Dynamical Systems, Caltech（控制与动态系统系，加州理工学院）
A Data-Driven Reinforcement Learning Solution Framework for Optimal and Adaptive Personalization of a Hip Exoskeleton
NC State University（北卡罗来纳州立大学）；University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）；Arizona State University（亚利桑那州立大学）；Hubei University of Technology（湖北工业大学）
Hierarchical Reinforcement Learning Framework for Adaptive Walking Control Using General Value Functions of Lower-Limb Sensor Signals
Department of Biomedical Engineering University of Utah（生物医学工程系 乌得勒支大学）；Alberta Machine Intelligence Institute (Amii) Department of Medicine Department of Computing Science University of Alberta（阿尔伯塔机器智能研究所（Amii） 医学院 计算科学系 阿尔伯塔大学）；Department of Biomedical Engineering Department of Physical Medicine and Rehabilitation University of Utah（生物医学工程系 理疗科 乌得勒支大学）
A Comprehensive Dynamic Simulation Framework for Coupled Neuromusculoskeletal-Exoskeletal Systems
Yiwu Research Institute, Fudan University（复旦大学义乌研究院）；School of Aerospace Engineering and Applied Mechanics, Tongji University（同济大学航空航天与力学学院）；College of Engineering, Peking University（北京大学工学院）
Therapist-Exoskeleton-Patient Interaction for Gait Therapy
Shirley Ryan AbilityLab；Center for Robotics and Biosystems（机器人与生物系统中心）；Department of Biomedical Engineering（生物医学工程系）；Department of Mechanical Engineering（机械工程系）；Department of Physical Medicine and Rehabilitation（康复医学系）
Personalized Lower-limb Exoskeleton Assistance via Preference-based Bayesian Optimization
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）；Macau University of Science and Technology（澳门科技大学）
Motor Control Insights on Walking Planner and its Stability
Rehabilitation Research Institute of Singapore（新加坡康复研究院）；Nanyang Technological University（南洋理工大学）；University of Edinburgh（爱丁堡大学）；Kyungpook National University（庆北国立大学）
