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A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons.

Jianping Lin1, Gray C Thomas2, Nikhil V Divekar3

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. He was with the Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA.

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Summary
This summary is machine-generated.

A new control framework, modular multi-task optimal energy shaping (M-TOES), enables lower-limb exoskeletons to stably assist daily activities. Unilateral M-TOES controllers significantly reduced muscle activation in able-bodied users across various tasks.

Keywords:
Roboticsoptimizationpassivity-based control

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Area of Science:

  • Robotics
  • Biomechanics
  • Control Systems

Background:

  • Backdrivable lower-limb exoskeletons can assist able-bodied users and those with gait disorders.
  • Existing control frameworks lack stability and versatility across diverse daily activities and exoskeleton configurations.

Purpose of the Study:

  • To present the modular, multi-task optimal energy shaping (M-TOES) framework for stable, adaptable exoskeleton control.
  • To develop a data-driven optimization method for training analytical control models.

Main Methods:

  • Developed the M-TOES framework using convex, data-driven optimization.
  • Trained analytical control models to determine assistive joint torques for various activities.
  • Evaluated controllers on the modular backdrivable lower limb unloading exoskeleton (M-BLUE) with eight able-bodied users across sit-stand, stairs, ramps, and level walking.

Main Results:

  • The M-TOES framework demonstrated a modular energy basis capable of fitting normative human joint torques.
  • Unilateral M-TOES controller configurations significantly reduced overall muscle activation across all tasks (p < 0.001).
  • Bilateral configurations showed minimal impact, potentially due to device weight and physical constraints.

Conclusions:

  • The M-TOES framework offers a provably stable control solution for lower-limb exoskeletons across diverse activities.
  • Unilateral configurations show promise for reducing user muscle effort in exoskeleton-assisted locomotion.