Abstract:
Various backdrivable lower limb exoskeletons have demonstrated the electromechanical capability to assist volitional motions of able-bodied users and people with mild to ...Show MoreMetadata
Abstract:
Various backdrivable lower limb exoskeletons have demonstrated the electromechanical capability to assist volitional motions of able-bodied users and people with mild to moderate gait disorders, but there does not exist a control framework that can be deployed on any joint(s) to assist any activity of daily life in a provably stable manner. This article presents the modular, multitask optimal energy shaping (M-TOES) framework, which uses a convex, data-driven optimization to train an analytical control model to instantaneously determine assistive joint torques across activities for any lower limb exoskeleton joint configuration. The presented modular energy basis is sufficiently descriptive to fit normative human joint torques (given normative feedback from signals available to a given joint configuration) across sit-stand transitions, stair ascent/descent, ramp ascent/descent, and level walking at different speeds. We evaluated controllers for four joint configurations (unilateral/bilateral and hip/knee) of the modular backdrivable lower limb unloading exoskeleton (M-BLUE) exoskeleton on eight able-bodied users navigating a multiactivity circuit. The two unilateral conditions significantly lowered overall muscle activation across all tasks and subjects (p \mathbf {\lt } 0.001). In contrast, bilateral configurations had a minimal impact, possibly attributable to device weight and physical constraints.
Published in: IEEE Transactions on Control Systems Technology ( Volume: 32, Issue: 6, November 2024)
Funding Agency:
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Jianping Lin (Member, IEEE) received the B.S. degree in applied mathematics from East China Normal University, Shanghai, China, in 2012, the M.S. degree in mechanical engineering from The University of Texas at Dallas, Richardson, TX, USA, in 2015, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, in 2020 and 2021, respectively.
He is currently a Research Fellow at the School o...Show More
Jianping Lin (Member, IEEE) received the B.S. degree in applied mathematics from East China Normal University, Shanghai, China, in 2012, the M.S. degree in mechanical engineering from The University of Texas at Dallas, Richardson, TX, USA, in 2015, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, in 2020 and 2021, respectively.
He is currently a Research Fellow at the School o...View more
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA
Gray C. Thomas (Member, IEEE) received the B.S. degree in general engineering with a self-designed concentration in robotics from the Olin College of Engineering, Needham, MA, USA, in 2012, and the Ph.D. degree in mechanical engineering from the University of Texas at Austin, Austin, TX, USA, in 2019.
He was a Research Investigator with the University of Michigan, Ann Arbor, TX, USA. In 2023, he became an Assistant Profess...Show More
Gray C. Thomas (Member, IEEE) received the B.S. degree in general engineering with a self-designed concentration in robotics from the Olin College of Engineering, Needham, MA, USA, in 2012, and the Ph.D. degree in mechanical engineering from the University of Texas at Austin, Austin, TX, USA, in 2019.
He was a Research Investigator with the University of Michigan, Ann Arbor, TX, USA. In 2023, he became an Assistant Profess...View more
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
Nikhil V. Divekar (Member, IEEE) received the B.S. degree in mechatronics engineering and the M.S. degree in biomedical engineering from the University of Cape Town, Cape Town, South Africa, in 2008 and 2013, respectively, the M.S. degree in bioengineering from the University of Texas at Dallas, Richardson, TX, USA, 2020, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, 2021 ...Show More
Nikhil V. Divekar (Member, IEEE) received the B.S. degree in mechatronics engineering and the M.S. degree in biomedical engineering from the University of Cape Town, Cape Town, South Africa, in 2008 and 2013, respectively, the M.S. degree in bioengineering from the University of Texas at Dallas, Richardson, TX, USA, 2020, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, 2021 ...View more
Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA
Vamsi Peddinti received the B.S. degree in electronics and computer engineering from the Gandhi Institute of Technology and Management, Visakhapatnam, India, and the M.S. degree in electrical and electronics engineering from Indiana University-Purdue University Indianapolis, Indianapolis, IN, USA, in 2015 and 2018, respectively.
He was a Research Engineer with the University of Michigan, Ann Arbor, MI, USA. He is currently...Show More
Vamsi Peddinti received the B.S. degree in electronics and computer engineering from the Gandhi Institute of Technology and Management, Visakhapatnam, India, and the M.S. degree in electrical and electronics engineering from Indiana University-Purdue University Indianapolis, Indianapolis, IN, USA, in 2015 and 2018, respectively.
He was a Research Engineer with the University of Michigan, Ann Arbor, MI, USA. He is currently...View more
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
Robert D. Gregg (Senior Member, IEEE) received the B.S. degree in electrical engineering and computer sciences from the University of California at Berkeley, Berkeley, CA, USA, in 2006, and the M.S. and Ph.D. degrees in electrical and computer engineering from the University of Illinois at Urbana-Champaign, Champaign, IL, USA, in 2007 and 2010, respectively.
He was an Assistant Professor with The University of Texas at Dal...Show More
Robert D. Gregg (Senior Member, IEEE) received the B.S. degree in electrical engineering and computer sciences from the University of California at Berkeley, Berkeley, CA, USA, in 2006, and the M.S. and Ph.D. degrees in electrical and computer engineering from the University of Illinois at Urbana-Champaign, Champaign, IL, USA, in 2007 and 2010, respectively.
He was an Assistant Professor with The University of Texas at Dal...View more
Contents Department of Robotics, University of Michigan, Ann Arbor, MI, USA
State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
Jianping Lin (Member, IEEE) received the B.S. degree in applied mathematics from East China Normal University, Shanghai, China, in 2012, the M.S. degree in mechanical engineering from The University of Texas at Dallas, Richardson, TX, USA, in 2015, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, in 2020 and 2021, respectively.
He is currently a Research Fellow at the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai. His research interests include the design and control of wearable devices and robots.
Jianping Lin (Member, IEEE) received the B.S. degree in applied mathematics from East China Normal University, Shanghai, China, in 2012, the M.S. degree in mechanical engineering from The University of Texas at Dallas, Richardson, TX, USA, in 2015, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, in 2020 and 2021, respectively.
He is currently a Research Fellow at the School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai. His research interests include the design and control of wearable devices and robots.View more
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA
Gray C. Thomas (Member, IEEE) received the B.S. degree in general engineering with a self-designed concentration in robotics from the Olin College of Engineering, Needham, MA, USA, in 2012, and the Ph.D. degree in mechanical engineering from the University of Texas at Austin, Austin, TX, USA, in 2019.
He was a Research Investigator with the University of Michigan, Ann Arbor, TX, USA. In 2023, he became an Assistant Professor with the J. Mike Walker ’66 Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA, where he directs the Human-Empowering Robotics and Control (HERC) Lab, Texas A&M University. His research interests include control and control-oriented design of physically interactive robots and modeling and estimation of humans.
Gray C. Thomas (Member, IEEE) received the B.S. degree in general engineering with a self-designed concentration in robotics from the Olin College of Engineering, Needham, MA, USA, in 2012, and the Ph.D. degree in mechanical engineering from the University of Texas at Austin, Austin, TX, USA, in 2019.
He was a Research Investigator with the University of Michigan, Ann Arbor, TX, USA. In 2023, he became an Assistant Professor with the J. Mike Walker ’66 Department of Mechanical Engineering, Texas A&M University, College Station, TX, USA, where he directs the Human-Empowering Robotics and Control (HERC) Lab, Texas A&M University. His research interests include control and control-oriented design of physically interactive robots and modeling and estimation of humans.View more
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
Nikhil V. Divekar (Member, IEEE) received the B.S. degree in mechatronics engineering and the M.S. degree in biomedical engineering from the University of Cape Town, Cape Town, South Africa, in 2008 and 2013, respectively, the M.S. degree in bioengineering from the University of Texas at Dallas, Richardson, TX, USA, 2020, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, 2021 and 2023, respectively.
He is a Post-Doctoral Research Fellow at the Department of Robotics, University of Michigan. His research interests include biomechanics, neurophysiology, and control of wearable robots.
Nikhil V. Divekar (Member, IEEE) received the B.S. degree in mechatronics engineering and the M.S. degree in biomedical engineering from the University of Cape Town, Cape Town, South Africa, in 2008 and 2013, respectively, the M.S. degree in bioengineering from the University of Texas at Dallas, Richardson, TX, USA, 2020, and the M.S. and Ph.D. degrees in robotics from the University of Michigan, Ann Arbor, MI, USA, 2021 and 2023, respectively.
He is a Post-Doctoral Research Fellow at the Department of Robotics, University of Michigan. His research interests include biomechanics, neurophysiology, and control of wearable robots.View more
Department of Electrical and Computer Engineering, University of Michigan, Ann Arbor, MI, USA
Vamsi Peddinti received the B.S. degree in electronics and computer engineering from the Gandhi Institute of Technology and Management, Visakhapatnam, India, and the M.S. degree in electrical and electronics engineering from Indiana University-Purdue University Indianapolis, Indianapolis, IN, USA, in 2015 and 2018, respectively.
He was a Research Engineer with the University of Michigan, Ann Arbor, MI, USA. He is currently a Senior Systems Engineer with Micron Technology, Hyderabad, Telangana, India, where he works on various memory storage devices and their affiliated products.
Vamsi Peddinti received the B.S. degree in electronics and computer engineering from the Gandhi Institute of Technology and Management, Visakhapatnam, India, and the M.S. degree in electrical and electronics engineering from Indiana University-Purdue University Indianapolis, Indianapolis, IN, USA, in 2015 and 2018, respectively.
He was a Research Engineer with the University of Michigan, Ann Arbor, MI, USA. He is currently a Senior Systems Engineer with Micron Technology, Hyderabad, Telangana, India, where he works on various memory storage devices and their affiliated products.View more
Department of Robotics, University of Michigan, Ann Arbor, MI, USA
Robert D. Gregg (Senior Member, IEEE) received the B.S. degree in electrical engineering and computer sciences from the University of California at Berkeley, Berkeley, CA, USA, in 2006, and the M.S. and Ph.D. degrees in electrical and computer engineering from the University of Illinois at Urbana-Champaign, Champaign, IL, USA, in 2007 and 2010, respectively.
He was an Assistant Professor with The University of Texas at Dallas, Richardson, TX, USA. In 2019, he became an Associate Professor at the Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA, where he joined the Department of Robotics in 2022. His research interests include the control of bipedal locomotion with applications to autonomous and wearable robots.
Robert D. Gregg (Senior Member, IEEE) received the B.S. degree in electrical engineering and computer sciences from the University of California at Berkeley, Berkeley, CA, USA, in 2006, and the M.S. and Ph.D. degrees in electrical and computer engineering from the University of Illinois at Urbana-Champaign, Champaign, IL, USA, in 2007 and 2010, respectively.
He was an Assistant Professor with The University of Texas at Dallas, Richardson, TX, USA. In 2019, he became an Associate Professor at the Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA, where he joined the Department of Robotics in 2022. His research interests include the control of bipedal locomotion with applications to autonomous and wearable robots.View more
