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Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users.

Jemina Fasola1, Romain Baud2, Tristan Vouga2

  • 1Laboratory of Cognitive Neuroscience (LNCO), School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Geneva, Switzerland.

Frontiers in Robotics and AI
|January 27, 2021
PubMed
Summary
This summary is machine-generated.

A new controller for lower-limb exoskeletons improves balance and weightlifting for wheelchair users. This enhanced controller allows for better interaction with the environment and sustained stability during dynamic tasks.

Keywords:
balancecontrollerexoskeletonparaplegicposition-controlposturestanding

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Area of Science:

  • Robotics
  • Biomechanics
  • Rehabilitation Engineering

Background:

  • Lower-limb exoskeletons assist wheelchair users with mobility challenges like stair climbing.
  • Current exoskeletons often require crutches, hindering user interaction with their surroundings.
  • A prior study developed a bio-inspired controller for exoskeleton balance, tested only on the device.

Purpose of the Study:

  • To evaluate a novel controller extending a previous bio-inspired design for lower-limb exoskeletons.
  • To incorporate online model compensation and hip joint contribution for enhanced stability.
  • To compare the new controller against the previous version using a spinal cord injury pilot.

Main Methods:

  • Development and implementation of an advanced bio-inspired controller with online model compensation.
  • Integration of hip joint control for improved response to perturbations.
  • Testing the controllers on the TWIICE One exoskeleton with a human pilot performing standing, perturbation, and weightlifting tasks.

Main Results:

  • The new controller demonstrated comparable quiet standing performance to the previous version.
  • It showed improved recovery from dynamic perturbations and better sustained stability.
  • The enhanced controller enabled higher weightlifting capacity during testing.

Conclusions:

  • The novel controller significantly enhances the performance of lower-limb exoskeletons for users with spinal cord injuries.
  • It offers improved dynamic stability, perturbation resistance, and functional capabilities like weightlifting.
  • This advancement promises greater environmental interaction and independence for exoskeleton users.