Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices

T.J.H. Brug, A.Q.L. Keemink, G. van Oort, V.IJ. Sluiter, E.H.F. van Asseldonk, Nevio Luigi Tagliamonte, Matteo Arquilla, Iolanda Pisotta, Federica Tamburella, Marcella Masciullo, R. Valette, Marco Molinari, H. van der Kooij

Research output: Contribution to conferencePaperAcademicpeer-review

Abstract

Active gait-assistive devices have the potential to drastically increase quality of life for patients with various diseases affecting mobility, but more research in control methods is needed to create seamless interaction with patients. The golden standard of control for these devices, trajectory control, has the advantage of being simple and predictable but lacks the ability to react to changes in the environment or changes in patient movement. A reflex-based neuromuscular model shows interesting similarities with real human gait, and shows potential as a new control method for these devices. However, the reflex-based controller requires movement as input to output useful assistance and it can react unexpectedly when it is in a situation it was not optimized for. Therefore, both control types are combined to make use of the advantages of both. In this work a feasibility study is conducted with one spinal cord injury patient with full paraplegia of the legs with a trajectory controller implemented on hip and knee and a combined controller on the ankle joint. We found that the patient was able to walk semi-independently using this method and the patient indicated a preference for the combined method over the pure trajectory based controller. Overall, a novel method of control for prosthetic and orthotic devices is shown and implemented and its feasibility is demonstrated with a gait impaired SCI subject.
Original languageEnglish
Publication statusPublished - 20 May 2019
EventIEEE International Conference on Robotics and Automation 2019 - Palais des congrès de Montréal, Montréal, Canada
Duration: 20 May 201924 May 2019
http://www.icra2019.org

Conference

ConferenceIEEE International Conference on Robotics and Automation 2019
CountryCanada
CityMontréal
Period20/05/1924/05/19
Internet address

Fingerprint

Trajectories
Controllers
Orthotics
Prosthetics

Keywords

  • Prosthetics and exoskeletons
  • Rehabilitation Robotics
  • Wearable robotics

Cite this

Brug, T. J. H., Keemink, A. Q. L., van Oort, G., Sluiter, V. IJ., van Asseldonk, E. H. F., Tagliamonte, N. L., ... van der Kooij, H. (2019). Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices. Paper presented at IEEE International Conference on Robotics and Automation 2019, Montréal, Canada.
Brug, T.J.H. ; Keemink, A.Q.L. ; van Oort, G. ; Sluiter, V.IJ. ; van Asseldonk, E.H.F. ; Tagliamonte, Nevio Luigi ; Arquilla, Matteo ; Pisotta, Iolanda ; Tamburella, Federica ; Masciullo, Marcella ; Valette, R. ; Molinari, Marco ; van der Kooij, H. / Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices. Paper presented at IEEE International Conference on Robotics and Automation 2019, Montréal, Canada.
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title = "Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices",
abstract = "Active gait-assistive devices have the potential to drastically increase quality of life for patients with various diseases affecting mobility, but more research in control methods is needed to create seamless interaction with patients. The golden standard of control for these devices, trajectory control, has the advantage of being simple and predictable but lacks the ability to react to changes in the environment or changes in patient movement. A reflex-based neuromuscular model shows interesting similarities with real human gait, and shows potential as a new control method for these devices. However, the reflex-based controller requires movement as input to output useful assistance and it can react unexpectedly when it is in a situation it was not optimized for. Therefore, both control types are combined to make use of the advantages of both. In this work a feasibility study is conducted with one spinal cord injury patient with full paraplegia of the legs with a trajectory controller implemented on hip and knee and a combined controller on the ankle joint. We found that the patient was able to walk semi-independently using this method and the patient indicated a preference for the combined method over the pure trajectory based controller. Overall, a novel method of control for prosthetic and orthotic devices is shown and implemented and its feasibility is demonstrated with a gait impaired SCI subject.",
keywords = "Prosthetics and exoskeletons, Rehabilitation Robotics, Wearable robotics",
author = "T.J.H. Brug and A.Q.L. Keemink and {van Oort}, G. and V.IJ. Sluiter and {van Asseldonk}, E.H.F. and Tagliamonte, {Nevio Luigi} and Matteo Arquilla and Iolanda Pisotta and Federica Tamburella and Marcella Masciullo and R. Valette and Marco Molinari and {van der Kooij}, H.",
year = "2019",
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note = "IEEE International Conference on Robotics and Automation 2019 ; Conference date: 20-05-2019 Through 24-05-2019",
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Brug, TJH, Keemink, AQL, van Oort, G, Sluiter, VIJ, van Asseldonk, EHF, Tagliamonte, NL, Arquilla, M, Pisotta, I, Tamburella, F, Masciullo, M, Valette, R, Molinari, M & van der Kooij, H 2019, 'Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices' Paper presented at IEEE International Conference on Robotics and Automation 2019, Montréal, Canada, 20/05/19 - 24/05/19, .

Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices. / Brug, T.J.H.; Keemink, A.Q.L.; van Oort, G.; Sluiter, V.IJ.; van Asseldonk, E.H.F.; Tagliamonte, Nevio Luigi; Arquilla, Matteo; Pisotta, Iolanda; Tamburella, Federica; Masciullo, Marcella; Valette, R.; Molinari, Marco; van der Kooij, H.

2019. Paper presented at IEEE International Conference on Robotics and Automation 2019, Montréal, Canada.

Research output: Contribution to conferencePaperAcademicpeer-review

TY - CONF

T1 - Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices

AU - Brug, T.J.H.

AU - Keemink, A.Q.L.

AU - van Oort, G.

AU - Sluiter, V.IJ.

AU - van Asseldonk, E.H.F.

AU - Tagliamonte, Nevio Luigi

AU - Arquilla, Matteo

AU - Pisotta, Iolanda

AU - Tamburella, Federica

AU - Masciullo, Marcella

AU - Valette, R.

AU - Molinari, Marco

AU - van der Kooij, H.

PY - 2019/5/20

Y1 - 2019/5/20

N2 - Active gait-assistive devices have the potential to drastically increase quality of life for patients with various diseases affecting mobility, but more research in control methods is needed to create seamless interaction with patients. The golden standard of control for these devices, trajectory control, has the advantage of being simple and predictable but lacks the ability to react to changes in the environment or changes in patient movement. A reflex-based neuromuscular model shows interesting similarities with real human gait, and shows potential as a new control method for these devices. However, the reflex-based controller requires movement as input to output useful assistance and it can react unexpectedly when it is in a situation it was not optimized for. Therefore, both control types are combined to make use of the advantages of both. In this work a feasibility study is conducted with one spinal cord injury patient with full paraplegia of the legs with a trajectory controller implemented on hip and knee and a combined controller on the ankle joint. We found that the patient was able to walk semi-independently using this method and the patient indicated a preference for the combined method over the pure trajectory based controller. Overall, a novel method of control for prosthetic and orthotic devices is shown and implemented and its feasibility is demonstrated with a gait impaired SCI subject.

AB - Active gait-assistive devices have the potential to drastically increase quality of life for patients with various diseases affecting mobility, but more research in control methods is needed to create seamless interaction with patients. The golden standard of control for these devices, trajectory control, has the advantage of being simple and predictable but lacks the ability to react to changes in the environment or changes in patient movement. A reflex-based neuromuscular model shows interesting similarities with real human gait, and shows potential as a new control method for these devices. However, the reflex-based controller requires movement as input to output useful assistance and it can react unexpectedly when it is in a situation it was not optimized for. Therefore, both control types are combined to make use of the advantages of both. In this work a feasibility study is conducted with one spinal cord injury patient with full paraplegia of the legs with a trajectory controller implemented on hip and knee and a combined controller on the ankle joint. We found that the patient was able to walk semi-independently using this method and the patient indicated a preference for the combined method over the pure trajectory based controller. Overall, a novel method of control for prosthetic and orthotic devices is shown and implemented and its feasibility is demonstrated with a gait impaired SCI subject.

KW - Prosthetics and exoskeletons

KW - Rehabilitation Robotics

KW - Wearable robotics

M3 - Paper

ER -

Brug TJH, Keemink AQL, van Oort G, Sluiter VIJ, van Asseldonk EHF, Tagliamonte NL et al. Combining a Bio-Inspired Reflexive Neuromuscular Controller with a Trajectory Controller for Active Lower-Extremity Gait-Assistive Devices. 2019. Paper presented at IEEE International Conference on Robotics and Automation 2019, Montréal, Canada.