Switching assistance for exoskeletons during cyclic motions

• Main Authors: Tagliamonte, Nevio Luigi, Valentini, Simona, Sudano, Angelo, Portaccio, Iacopo, De Leonardis, Chiara, Formica, Domenico, Accoto, Dino
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Assistive Exoskeleton; Engineering::Mechanical engineering; Adaptive Controller
• Online Access: https://hdl.handle.net/10356/83521; http://hdl.handle.net/10220/49756
• Institution: Nanyang Technological University

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.