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Training Persons with Spinal Cord Injury to Ambulate Using a Powered Exoskeleton

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Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton.

Jiefu Zhang¹, Jianping Lin^1,2, Vamsi Peddinti³

¹Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI 48109, USA.

Proceedings of the ... American Control Conference. American Control Conference

|October 4, 2023

Summary

This summary is machine-generated.

This study introduces a new hip exoskeleton controller that adapts to user movements, reducing muscle effort for daily activities. This advanced control strategy enhances natural motion assistance for individuals with mobility impairments.

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Area of Science:

Robotics
Biomechanics
Control Systems

Background:

Exoskeletons often use task-dependent controllers that restrict user movement.
Energy shaping offers task-invariant assistance by modifying system dynamics.
Previous work applied port-controlled-Hamiltonian systems to knee-ankle exoskeletons.

Purpose of the Study:

To design a controller for a backdrivable hip exoskeleton.
To provide adaptable assistance for multiple daily living tasks.
To extend the port-controlled-Hamiltonian framework for hip exoskeleton control.

Main Methods:

Modeling the human-hip exoskeleton system as a port-controlled-Hamiltonian system.
Designing a task-invariant controller using interconnection-damping assignment.
Optimizing basis function coefficients for normative human torque profiles.

Main Results:

The controller successfully adapted to assist multiple tasks.
Human-subject experiments showed reduced muscle effort.
The controller provided torque matching normative human patterns.

Conclusions:

The developed controller effectively assists hip exoskeleton users across various tasks.
This approach reduces physical exertion for individuals performing daily activities.
The port-controlled-Hamiltonian framework is suitable for advanced exoskeleton control.