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Can Momentum-Based Control Predict Human Balance Recovery Strategies?

C Bayon, A R Emmens, M Afschrift

    IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
    |August 4, 2020
    PubMed
    Summary
    This summary is machine-generated.

    Momentum-based controllers (MBC) in exoskeletons struggle to replicate human balance recovery strategies, especially with larger perturbations. Further research into angular momentum control and constraint implementation is needed for more human-like performance.

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    Area of Science:

    • Robotics
    • Biomechanics
    • Human-Robot Interaction

    Background:

    • Human-like balance controllers are crucial for enhancing human-robot interaction in wearable exoskeletons.
    • Momentum-based controllers (MBC) show promise but their ability to mimic human balance responses is not well understood.

    Purpose of the Study:

    • To investigate the capability of an MBC to generate human-like balance recovery strategies.
    • To compare MBC performance against a linear full-state feedback (FSF) control law using human experimental data.

    Main Methods:

    • Utilized experimental data from nine healthy subjects responding to anteroposterior platform translations of varying amplitudes.
    • Compared the balance recovery strategies generated by an MBC and an FSF law to human subject data.

    Main Results:

    • The MBC did not accurately mimic the combined trunk, thigh, and shank angle trajectories observed in humans.
    • MBC showed better thigh angle tracking but worse trunk angle tracking compared to FSF; shank angle tracking was similar.
    • Human-likeness of MBC responses decreased with increased perturbation magnitude, with dissimilar shifts between ankle and hip strategies.

    Conclusions:

    • While MBC did not outperform FSF in predicting human-like balance, its ability to handle constraints makes it suitable for exoskeleton implementation.
    • Further research on angular momentum control and constraint implementation could improve MBC's human-like balance recovery generation.