Firouzi, Vahid ; Mohseni, Omid ; Sharbafi, Maziar A. (2022)
Model-based control for gait assistance in the frontal plane.
9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). Seoul, Republic of Korea (21.08.2022 - 24.08.2022)
doi: 10.1109/BioRob52689.2022.9925396
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
There is a growing interest in developing devices for human gait assistance. Most research focuses on the sagittal plane's assistance, assuming that walking is predominantly a sagittal plane motion. However, movements in the frontal plane have particular importance for balance control as well as load carrying. This paper studies hip abduction assistance and proposes using a simple human locomotion model as a guideline for designing and controlling assistive devices. We introduce the force modulated compliant hip (FMCH) model in the frontal plane, which applies the ground reaction force to tune the hip abductor/adductor stiffness. The effects of this model-based control approach on walking gait are investigated through leg muscles' activation, metabolic costs, and adaptability to a new condition (carrying 38 kg extra load) for seven healthy young subjects using an experiment-based simulation in OpenSim. Our results show 6.72 ± 0.6% and 11 ± 0.3% reduction in metabolic cost for walking at a freely selected speed and while load carrying, respectively. Also, compensating for increased muscle activation while carrying extra load due to the hip compliance adjustment by leg force feedback approves the adaptability of the proposed control approach.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2022 |
| Autor(en): | Firouzi, Vahid ; Mohseni, Omid ; Sharbafi, Maziar A. |
| Art des Eintrags: | Bibliographie |
| Titel: | Model-based control for gait assistance in the frontal plane |
| Sprache: | Englisch |
| Publikationsjahr: | 8 November 2022 |
| Verlag: | IEEE |
| Buchtitel: | 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) |
| Kollation: | 8 Seiten |
| Veranstaltungstitel: | 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) |
| Veranstaltungsort: | Seoul, Republic of Korea |
| Veranstaltungsdatum: | 21.08.2022 - 24.08.2022 |
| DOI: | 10.1109/BioRob52689.2022.9925396 |
| Kurzbeschreibung (Abstract): | There is a growing interest in developing devices for human gait assistance. Most research focuses on the sagittal plane's assistance, assuming that walking is predominantly a sagittal plane motion. However, movements in the frontal plane have particular importance for balance control as well as load carrying. This paper studies hip abduction assistance and proposes using a simple human locomotion model as a guideline for designing and controlling assistive devices. We introduce the force modulated compliant hip (FMCH) model in the frontal plane, which applies the ground reaction force to tune the hip abductor/adductor stiffness. The effects of this model-based control approach on walking gait are investigated through leg muscles' activation, metabolic costs, and adaptability to a new condition (carrying 38 kg extra load) for seven healthy young subjects using an experiment-based simulation in OpenSim. Our results show 6.72 ± 0.6% and 11 ± 0.3% reduction in metabolic cost for walking at a freely selected speed and while load carrying, respectively. Also, compensating for increased muscle activation while carrying extra load due to the hip compliance adjustment by leg force feedback approves the adaptability of the proposed control approach. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik DFG-Graduiertenkollegs DFG-Graduiertenkollegs > Graduiertenkolleg 2761 LokoAssist – Nahtlose Integration von Assistenzsystemen für die natürliche Lokomotion des Menschen |
| Hinterlegungsdatum: | 14 Nov 2024 10:14 |
| Letzte Änderung: | 14 Nov 2024 10:14 |
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