TU Darmstadt / ULB / TUbiblio

Locomotor Sub-functions for Control of Assistive Wearable Robots

Sharbafi, Maziar A. ; Seyfarth, Andre ; Zhao, Guoping (2017)
Locomotor Sub-functions for Control of Assistive Wearable Robots.
In: Frontiers in Neurorobotics, 11
doi: 10.3389/fnbot.2017.00044
Artikel, Bibliographie

Dies ist die neueste Version dieses Eintrags.

Kurzbeschreibung (Abstract)

A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance: redirecting the center of mass by exerting forces on the ground. Swing: cycling the legs between ground contacts. Balance: maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

Typ des Eintrags: Artikel
Erschienen: 2017
Autor(en): Sharbafi, Maziar A. ; Seyfarth, Andre ; Zhao, Guoping
Art des Eintrags: Bibliographie
Titel: Locomotor Sub-functions for Control of Assistive Wearable Robots
Sprache: Englisch
Publikationsjahr: 2017
Verlag: Frontiers
Titel der Zeitschrift, Zeitung oder Schriftenreihe: Frontiers in Neurorobotics
Jahrgang/Volume einer Zeitschrift: 11
DOI: 10.3389/fnbot.2017.00044
URL / URN: http://journal.frontiersin.org/article/10.3389/fnbot.2017.00...
Zugehörige Links:
Kurzbeschreibung (Abstract):

A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance: redirecting the center of mass by exerting forces on the ground. Swing: cycling the legs between ground contacts. Balance: maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

Sachgruppe der Dewey Dezimalklassifikatin (DDC): 700 Künste und Unterhaltung > 796 Sport
Fachbereich(e)/-gebiet(e): 03 Fachbereich Humanwissenschaften
03 Fachbereich Humanwissenschaften > Institut für Sportwissenschaft
Zentrale Einrichtungen
Zentrale Einrichtungen > Centre for Cognitive Science (CCS)
Hinterlegungsdatum: 02 Aug 2024 12:33
Letzte Änderung: 02 Aug 2024 12:33
PPN:
Export:
Suche nach Titel in: TUfind oder in Google

Verfügbare Versionen dieses Eintrags

Frage zum Eintrag Frage zum Eintrag

Optionen (nur für Redakteure)
Redaktionelle Details anzeigen Redaktionelle Details anzeigen