Corpus ID: 236772051

Neuromechanical model-based control of bi-lateral ankle exoskeletons: biological joint torque and electromyogram reduction across walking conditions

  title={Neuromechanical model-based control of bi-lateral ankle exoskeletons: biological joint torque and electromyogram reduction across walking conditions},
  author={Guillaume Durandau and Wolfgang F. Rampeltshammer and Herman van der Kooij and Massimo Sartori},
To enable the broad adoption of wearable robotic exoskeletons in medical and industrial settings, it is crucial they can effectively support large repertoires of movements. We propose a new human-machine interface to drive bilateral ankle exoskeletons during a range of “unseen” walking conditions that were not used for establishing the control interface. The proposed approach uses person-specific neuromechanical models of the human body to estimate biological ankle torques in real-time from… Expand

Figures from this paper


Myoelectric model-based control of a bi-lateral robotic ankle exoskeleton during even ground locomotion *
An HMI based on EMG-driven musculoskeletal modelling that estimates biological joint torques in real-time and uses a percentage of these to dynamically control exoskeleton-generated torques is proposed in a task-independent manner, i.e. no need to classify locomotion modes. Expand
Movement Performance of Human–Robot Cooperation Control Based on EMG-Driven Hill-Type and Proportional Models for an Ankle Power-Assist Exoskeleton Robot
  • Di Ao, R. Song, Jinwu Gao
  • Engineering, Medicine
  • IEEE Transactions on Neural Systems and Rehabilitation Engineering
  • 2017
Results demonstrated that the muscular effort and smoothness of tracking movements decreased with an increase in the assistant ratio, which implied that a more physiologically appropriate model could enable more natural and human-like human–robot cooperation and has potential value for improvement of human–exoskeleton interaction in future applications. Expand
Design and Control of a Multifunctional Ankle Exoskeleton Powered by Magnetorheological Actuators to Assist Walking, Jumping, and Landing
The potential of delocalized magnetorheological (MR) clutches to provide transparent but yet powerful multifunctional exoskeleton assistance is studied. Expand
Voluntary control of wearable robotic exoskeletons by patients with paresis via neuromechanical modeling
A patient-specific computational model of the human musculoskeletal system controlled via neural surrogates was synthesized into a human-machine interface that enabled poststroke and incomplete spinal cord injury patients to voluntarily control multiple joints in a multifunctional robotic exoskeleton in real time. Expand
Biomechanics and energetics of walking in powered ankle exoskeletons using myoelectric control versus mechanically intrinsic control
The results suggest that the type of controller (neural vs. mechanical) is likely to affect how individuals use robotic exoskeletons for therapeutic rehabilitation or human performance augmentation. Expand
Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects
This pilot study analyzed the effects of the NMC-controlled Achilles, used as an assistive device, on chronic iSCI participants’ performance, by assessing gait speed during 10-session training of robot-aided walking and found a potential rehabilitative impact. Expand
Adaptive Admittance Control for an Ankle Exoskeleton Using an EMG-Driven Musculoskeletal Model
An adaptive admittance control scheme consisting of an admittance filter, inner position controller, and electromyography-driven musculoskeletal model has potential for application in robot-assisted rehabilitation. Expand
Adaptive Model-Based Myoelectric Control for a Soft Wearable Arm Exosuit: A New Generation of Wearable Robot Control
A framework that combines, for the first time, a model-based HMI with a soft wearable arm exosuit that has the potential to address key limitations in current HMIs and wearable robots is developed. Expand
Reducing the metabolic cost of walking with an ankle exoskeleton: interaction between actuation timing and power
The authors' optimal assistance onset timing and average power levels could be used for other exoskeletons to improve assistance and resulting benefits and emphasize the importance of optimizing exoskeleton actuation properties when assisting or augmenting human locomotion. Expand
Robust simultaneous myoelectric control of multiple degrees of freedom in wrist-hand prostheses by real-time neuromusculoskeletal modeling.
This work presents a biomimetic interface that synthetizes the musculoskeletal function of an individual's phantom limb as controlled by neural surrogates, i.e. electromyography-derived neural activations, and shows that this constraint makes the approach applicable to real-world scenarios and robust to movement artefacts. Expand