Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking

C. Bayón; W.F. Rampeltshammer; A.Q.L. Keemink; H. van der Kooij; E.H.F. van Asseldonk

doi:10.1007/978-3-030-69547-7_8

Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking

C. Bayón^*, W.F. Rampeltshammer, A.Q.L. Keemink, H. van der Kooij, E.H.F. van Asseldonk

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

2 Citations (Scopus)

1645 Downloads (Pure)

Abstract

In the last two decades, lower-limb exoskeletons have been developed to assist human standing and locomotion. One of the ongoing challenges is still balance support. Here we present a control strategy for an ankle-exoskeleton to assist balance recovery after unexpected disturbances during walking. We evaluated the controller in two healthy participants wearing the ankles of the Symbitron exoskeleton while receiving forward pushes at the pelvis during walking. Providing low and medium assistance resulted in improvement of balance recovery (decreased center of mass movement in the direction of the perturbation) and reduction of muscle activity, respect to trials with no assistance. These effects saturated with high levels of assistance. The results are promising, but the controller should be improved to use human’s real-time response as a feedback to trigger the support.

Original language	English
Title of host publication	Wearable Robotics: Challenges and Trends
Subtitle of host publication	Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020
Editors	Juan C. Moreno, Jawad Masood, Urs Schneider, Christophe Maufroy, Jose L. Pons
Publisher	Springer
Pages	47-51
Number of pages	5
ISBN (Print)	978-3-030-69547-7
DOIs	https://doi.org/10.1007/978-3-030-69547-7_8
Publication status	Published - 2022
Event	5th International Symposium on Wearable Robotics, WeRob 2020 - Virtual conference Duration: 13 Oct 2020 → 16 Oct 2020 Conference number: 5 https://www.wearableroboticslab.nl/Events/2020/10/648432/balance-recovery-support-using-wearable-robotic-devices#speakers-talks

Publication series

Name	Biosystems and Biorobotics
Volume	27
ISSN (Print)	2195-3562
ISSN (Electronic)	2195-3570

Conference

Conference	5th International Symposium on Wearable Robotics, WeRob 2020
Abbreviated title	WeRob 2020
Period	13/10/20 → 16/10/20
Internet address	https://www.wearableroboticslab.nl/Events/2020/10/648432/balance-recovery-support-using-wearable-robotic-devices#speakers-talks

Keywords

2022 OA procedure

Access to Document

10.1007/978-3-030-69547-7_8

978_3_030_69547_7Final published version, 20.9 MBLicence: Taverne

Cite this

Bayón, C., Rampeltshammer, W. F., Keemink, A. Q. L., van der Kooij, H., & van Asseldonk, E. H. F. (2022). Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking. In J. C. Moreno, J. Masood, U. Schneider, C. Maufroy, & J. L. Pons (Eds.), Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020 (pp. 47-51). (Biosystems and Biorobotics; Vol. 27). Springer. https://doi.org/10.1007/978-3-030-69547-7_8

Bayón, C. ; Rampeltshammer, W.F. ; Keemink, A.Q.L. et al. / Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking. Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. editor / Juan C. Moreno ; Jawad Masood ; Urs Schneider ; Christophe Maufroy ; Jose L. Pons. Springer, 2022. pp. 47-51 (Biosystems and Biorobotics).

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title = "Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking",

abstract = "In the last two decades, lower-limb exoskeletons have been developed to assist human standing and locomotion. One of the ongoing challenges is still balance support. Here we present a control strategy for an ankle-exoskeleton to assist balance recovery after unexpected disturbances during walking. We evaluated the controller in two healthy participants wearing the ankles of the Symbitron exoskeleton while receiving forward pushes at the pelvis during walking. Providing low and medium assistance resulted in improvement of balance recovery (decreased center of mass movement in the direction of the perturbation) and reduction of muscle activity, respect to trials with no assistance. These effects saturated with high levels of assistance. The results are promising, but the controller should be improved to use human{\textquoteright}s real-time response as a feedback to trigger the support.",

keywords = "2022 OA procedure",

author = "C. Bay{\'o}n and W.F. Rampeltshammer and A.Q.L. Keemink and {van der Kooij}, H. and {van Asseldonk}, E.H.F.",

note = "Funding Information: This work is part of the research program Wearable Robotics with project number P16-05, (partly) financed by the Dutch Research Council (NWO). Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 5th International Symposium on Wearable Robotics, WeRob 2020 , WeRob 2020 ; Conference date: 13-10-2020 Through 16-10-2020",

year = "2022",

doi = "10.1007/978-3-030-69547-7_8",

language = "English",

isbn = "978-3-030-69547-7",

series = "Biosystems and Biorobotics",

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pages = "47--51",

editor = "Moreno, {Juan C.} and Jawad Masood and Urs Schneider and Christophe Maufroy and Pons, {Jose L.}",

booktitle = "Wearable Robotics: Challenges and Trends",

address = "Germany",

url = "https://www.wearableroboticslab.nl/Events/2020/10/648432/balance-recovery-support-using-wearable-robotic-devices#speakers-talks",

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Bayón, C, Rampeltshammer, WF, Keemink, AQL , van der Kooij, H & van Asseldonk, EHF 2022, Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking. in JC Moreno, J Masood, U Schneider, C Maufroy & JL Pons (eds), Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Biosystems and Biorobotics, vol. 27, Springer, pp. 47-51, 5th International Symposium on Wearable Robotics, WeRob 2020 , 13/10/20. https://doi.org/10.1007/978-3-030-69547-7_8

Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking. / Bayón, C.; Rampeltshammer, W.F.; Keemink, A.Q.L. et al.
Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. ed. / Juan C. Moreno; Jawad Masood; Urs Schneider; Christophe Maufroy; Jose L. Pons. Springer, 2022. p. 47-51 (Biosystems and Biorobotics; Vol. 27).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review

TY - CHAP

T1 - Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking

AU - Bayón, C.

AU - Rampeltshammer, W.F.

AU - Keemink, A.Q.L.

AU - van der Kooij, H.

AU - van Asseldonk, E.H.F.

N1 - Conference code: 5

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Y1 - 2022

N2 - In the last two decades, lower-limb exoskeletons have been developed to assist human standing and locomotion. One of the ongoing challenges is still balance support. Here we present a control strategy for an ankle-exoskeleton to assist balance recovery after unexpected disturbances during walking. We evaluated the controller in two healthy participants wearing the ankles of the Symbitron exoskeleton while receiving forward pushes at the pelvis during walking. Providing low and medium assistance resulted in improvement of balance recovery (decreased center of mass movement in the direction of the perturbation) and reduction of muscle activity, respect to trials with no assistance. These effects saturated with high levels of assistance. The results are promising, but the controller should be improved to use human’s real-time response as a feedback to trigger the support.

AB - In the last two decades, lower-limb exoskeletons have been developed to assist human standing and locomotion. One of the ongoing challenges is still balance support. Here we present a control strategy for an ankle-exoskeleton to assist balance recovery after unexpected disturbances during walking. We evaluated the controller in two healthy participants wearing the ankles of the Symbitron exoskeleton while receiving forward pushes at the pelvis during walking. Providing low and medium assistance resulted in improvement of balance recovery (decreased center of mass movement in the direction of the perturbation) and reduction of muscle activity, respect to trials with no assistance. These effects saturated with high levels of assistance. The results are promising, but the controller should be improved to use human’s real-time response as a feedback to trigger the support.

KW - 2022 OA procedure

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U2 - 10.1007/978-3-030-69547-7_8

DO - 10.1007/978-3-030-69547-7_8

M3 - Chapter

AN - SCOPUS:85109548254

SN - 978-3-030-69547-7

T3 - Biosystems and Biorobotics

SP - 47

EP - 51

BT - Wearable Robotics: Challenges and Trends

A2 - Moreno, Juan C.

A2 - Masood, Jawad

A2 - Schneider, Urs

A2 - Maufroy, Christophe

A2 - Pons, Jose L.

PB - Springer

T2 - 5th International Symposium on Wearable Robotics, WeRob 2020

Y2 - 13 October 2020 through 16 October 2020

ER -

Bayón C, Rampeltshammer WF, Keemink AQL , van der Kooij H , van Asseldonk EHF. Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking. In Moreno JC, Masood J, Schneider U, Maufroy C, Pons JL, editors, Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020. Springer. 2022. p. 47-51. (Biosystems and Biorobotics). Epub 2021 Jul 2. doi: 10.1007/978-3-030-69547-7_8

Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking

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