A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis

Tingfang Yan; Andrea Parri; Matteo Fantozzi; Mario Cortese; Marco Muscolo; Marco Cempini; Francesco Giovacchini; Guido Pasquini; Marko Munih; Nicola Vitiello

doi:10.1109/ICORR.2015.7281230

A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis

Tingfang Yan, Andrea Parri, Matteo Fantozzi, Mario Cortese, Marco Muscolo, Marco Cempini, Francesco Giovacchini, Guido Pasquini, Marko Munih, Nicola Vitiello

Fondazione Don Carlo Gnocchi Onlus

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper introduces a novel control strategy for a multi-joint lower-limb exoskeleton during ground-level walking assistive tasks. It is aimed to define a physiologically consistent assistance to the human movements without engaging a complex sensory apparatus, hence providing a simple and comfortable human-robot interface. The control system is a two-block structure: one is based on adaptive oscillators (AOs) dedicated to the hip joint control, the other is a finite-state machine utilized for managing the assistive functions of knee and ankle joints. This control strategy was validated with two subjects walking on a treadmill wearing a hip-knee-ankle-foot (HKAF) exoskeleton. The tests were carried out at different speeds under both zero-torque and assistive control modes. Results presented repetitive and adaptive desired assistive torque profiles during all conditions and both subjects confirmed the benefits of gait assistance. We also analyzed the alterations of kinematics induced by assistive torques: the maximum-changed angle was 8.84 deg at ankle joint, and the time shifts of maximum/minimum angles were always lower than 2% of one stride cycle.

Original language	English
Title of host publication	IEEE International Conference on Rehabilitation Robotics
Publisher	IEEE Computer Society
Pages	386-391
Number of pages	6
Volume	2015-September
ISBN (Print)	9781479918072
DOIs	https://doi.org/10.1109/ICORR.2015.7281230
Publication status	Published - Sep 28 2015
Event	14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015 - Singapore, Singapore Duration: Aug 11 2015 → Aug 14 2015

Other

Other	14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
Country	Singapore
City	Singapore
Period	8/11/15 → 8/14/15

Keywords

adaptive oscillators
HKAF exoskeleton
state machine

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering
Rehabilitation

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10.1109/ICORR.2015.7281230

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Yan, T., Parri, A., Fantozzi, M., Cortese, M., Muscolo, M., Cempini, M., Giovacchini, F., Pasquini, G., Munih, M., & Vitiello, N. (2015). A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis. In IEEE International Conference on Rehabilitation Robotics (Vol. 2015-September, pp. 386-391). [7281230] IEEE Computer Society. https://doi.org/10.1109/ICORR.2015.7281230

A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis. / Yan, Tingfang; Parri, Andrea; Fantozzi, Matteo; Cortese, Mario; Muscolo, Marco; Cempini, Marco; Giovacchini, Francesco; Pasquini, Guido; Munih, Marko; Vitiello, Nicola.

IEEE International Conference on Rehabilitation Robotics. Vol. 2015-September IEEE Computer Society, 2015. p. 386-391 7281230.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yan, T, Parri, A, Fantozzi, M, Cortese, M, Muscolo, M, Cempini, M, Giovacchini, F, Pasquini, G, Munih, M & Vitiello, N 2015, A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis. in IEEE International Conference on Rehabilitation Robotics. vol. 2015-September, 7281230, IEEE Computer Society, pp. 386-391, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015, Singapore, Singapore, 8/11/15. https://doi.org/10.1109/ICORR.2015.7281230

Yan, Tingfang ; Parri, Andrea ; Fantozzi, Matteo ; Cortese, Mario ; Muscolo, Marco ; Cempini, Marco ; Giovacchini, Francesco ; Pasquini, Guido ; Munih, Marko ; Vitiello, Nicola. / A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis. IEEE International Conference on Rehabilitation Robotics. Vol. 2015-September IEEE Computer Society, 2015. pp. 386-391

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