Adaptive Control of Exoskeleton Robots for Periodic Assistive Behaviours Based on EMG Feedback Minimisation

PloS One
Luka PeternelJan Babič

Abstract

In this paper we propose an exoskeleton control method for adaptive learning of assistive joint torque profiles in periodic tasks. We use human muscle activity as feedback to adapt the assistive joint torque behaviour in a way that the muscle activity is minimised. The user can then relax while the exoskeleton takes over the task execution. If the task is altered and the existing assistive behaviour becomes inadequate, the exoskeleton gradually adapts to the new task execution so that the increased muscle activity caused by the new desired task can be reduced. The advantage of the proposed method is that it does not require biomechanical or dynamical models. Our proposed learning system uses Dynamical Movement Primitives (DMPs) as a trajectory generator and parameters of DMPs are modulated using Locally Weighted Regression. Then, the learning system is combined with adaptive oscillators that determine the phase and frequency of motion according to measured Electromyography (EMG) signals. We tested the method with real robot experiments where subjects wearing an elbow exoskeleton had to move an object of an unknown mass according to a predefined reference motion. We further evaluated the proposed approach on a whole-arm exoskele...Continue Reading

References

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Citations

May 3, 2019·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Soumya K Manna, Venketesh N Dubey
Sep 12, 2019·Frontiers in Neurorobotics·Mingxing LyuBaochang Zhang
Oct 3, 2019·The Review of Scientific Instruments·Mingxing LyuJianhua Wang
Nov 22, 2018·Frontiers in Neurorobotics·Tatsuya TeramaeErhan Oztop
Jun 14, 2019·Frontiers in Neurorobotics·Tadej PetričJan Babič
Jan 25, 2020·BioMed Research International·Qiaoling MengSujiao Li
Jun 20, 2019·Frontiers in Neurorobotics·Siqi CaiLonghan Xie
Jan 12, 2019·Frontiers in Neuroscience·Vladimir A MaksimenkoAlexander N Pisarchik
Jul 3, 2021·Sensors·Jenny Carolina CastiblancoJulian D Colorado
Nov 11, 2021·Science Robotics·Jason R Franz
Dec 17, 2021·Frontiers in Systems Neuroscience·Hyeonseok KimYasuharu Koike
Apr 26, 2018··Vladimir MaksimenkoAlexander E. Hramov

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Methods Mentioned

BETA
force measurement

Software Mentioned

SENIAM
RoboKnee

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