Upper Extremity Load Reduction for Lower LimbExoskeleton Trajectory Generation Using AnkleTorque Minimization

Design and Evaluation of Torque Compensation Controllers for a Lower Extremity Exoskeleton

In this paper, we present an integrated human-in-the-loop simulation paradigm for the design and evaluation of a lower extremity exoskeleton that is elastically strapped onto human lower limbs. The exoskeleton has 3 rotational DOFs on each side and weighs 23kg. Two torque compensation controllers of the exoskeleton are introduced, aiming to minimize interference and maximize assistance to human motions, respectively. Their effects on the wearer's biomechanical loadings are studied with a running motion and predicted ground reaction forces. It is found that the added weight of the passive exosk…

Reinforcement Learning Control of a Biomechanical Model of the Upper Extremity

Among the infinite number of possible movements that can be produced, humans are commonly assumed to choose those that optimize criteria such as minimizing movement time, subject to certain movement constraints like signal-dependent and constant motor noise. While so far these assumptions have only been evaluated for simplified point-mass or planar models, we address the question of whether they can predict reaching movements in a full skeletal model of the human upper extremity. We learn a control policy using a motor babbling approach as implemented in reinforcement learning, using aimed mov…

用于上肢康复的沉浸式虚拟现实与机器人技术

Immersive Virtual Reality and Robotics for Upper Extremity Rehabilitation

本研究提出一种结合VR、机器人设备KinArm与可穿戴传感器的上肢康复框架，通过16人试点用户研究验证了其在任务表现与系统可用性方面的有效性，为家庭个性化康复提供了新途径。