Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

Abstract

Neuromusculoskeletal modeling driven by electromyograms (EMG) has shown the ability to predict joint torque for a wide variety of movements. Taking advantage of this, we connected a real-time version of an EMG-driven model to a bilateral ankle exoskeleton to continuously assist during a wide repertory of locomotion tasks. The advantage is that the user controls the exoskeleton voluntarily, i.e. as a direct function of own muscle force. As a result, the developed framework can seamlessly assist in different tasks as well as transitions between tasks without having to change any parameters or using an additional algorithm to switch between states. Results on three participants show that an exoskeleton controlled via this framework reduces EMGs during locomotion tasks with various speeds and/or inclinations. This is the first step toward creating controller allowing to assist in tasks independent manner.

Original languageEnglish
Title of host publicationWearable Robotics: Challenges and Trends
Subtitle of host publicationProceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020
PublisherSpringer Science and Business Media Deutschland GmbH
Pages247-250
Number of pages4
ISBN (Electronic)978-3-030-69547-7
ISBN (Print)978-3-030-69546-0, 978-3-030-69549-1
DOIs
Publication statusPublished - 2022
Event5th International Symposium on Wearable Robotics, WeRob 2020 - Virtual conference
Duration: 13 Oct 202016 Oct 2020
Conference number: 5
https://www.wearableroboticslab.nl/Events/2020/10/648432/balance-recovery-support-using-wearable-robotic-devices#speakers-talks

Publication series

NameBiosystems and Biorobotics
Volume27
ISSN (Print)2195-3562
ISSN (Electronic)2195-3570

Conference

Conference5th International Symposium on Wearable Robotics, WeRob 2020
Abbreviated titleWeRob 2020
Period13/10/2016/10/20
Internet address

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