Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users
Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from interacting efficiently with the environment...
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doaj-9f741df8a00d4910995e3dfc3eb3232b2020-11-25T04:09:14ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442020-11-01710.3389/frobt.2020.553828553828Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI UsersJemina Fasola0Romain Baud1Tristan Vouga2Auke Ijspeert3Mohamed Bouri4Mohamed Bouri5Laboratory of Cognitive Neuroscience (LNCO), School of Life Sciences, Ecole Polytechnique Fédérale de Lausanne (EPFL), Geneva, SwitzerlandBiorobotics Laboratory (BIOROB), School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, SwitzerlandBiorobotics Laboratory (BIOROB), School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, SwitzerlandBiorobotics Laboratory (BIOROB), School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, SwitzerlandBiorobotics Laboratory (BIOROB), School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Lausanne, SwitzerlandTranslationnal Neural Engineering (TNE), School of Engineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), Geneva, SwitzerlandSeveral lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from interacting efficiently with the environment. In a previous study, a bio-inspired controller was developed to allow dynamic standing balance for such exoskeletons. It was however only tested on the device without any user. This work describes and evaluates a new controller that extends this previous one with an online model compensation, and the contribution of the hip joint against strong perturbations. In addition, both controllers are tested with the exoskeleton TWIICE One, worn by a complete spinal cord injury pilot. Their performances are compared by the mean of three tasks: standing quietly, resisting external perturbations, and lifting barbells of increasing weight. The new controller exhibits a similar performance for quiet standing, longer recovery time for dynamic perturbations but better ability to sustain prolonged perturbations, and higher weightlifting capability.https://www.frontiersin.org/articles/10.3389/frobt.2020.553828/fullbalanceposturecontrollerexoskeletonposition-controlstanding |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jemina Fasola Romain Baud Tristan Vouga Auke Ijspeert Mohamed Bouri Mohamed Bouri |
spellingShingle |
Jemina Fasola Romain Baud Tristan Vouga Auke Ijspeert Mohamed Bouri Mohamed Bouri Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users Frontiers in Robotics and AI balance posture controller exoskeleton position-control standing |
author_facet |
Jemina Fasola Romain Baud Tristan Vouga Auke Ijspeert Mohamed Bouri Mohamed Bouri |
author_sort |
Jemina Fasola |
title |
Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users |
title_short |
Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users |
title_full |
Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users |
title_fullStr |
Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users |
title_full_unstemmed |
Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users |
title_sort |
bioinspired postural controllers for a locked-ankle exoskeleton targeting complete sci users |
publisher |
Frontiers Media S.A. |
series |
Frontiers in Robotics and AI |
issn |
2296-9144 |
publishDate |
2020-11-01 |
description |
Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from interacting efficiently with the environment. In a previous study, a bio-inspired controller was developed to allow dynamic standing balance for such exoskeletons. It was however only tested on the device without any user. This work describes and evaluates a new controller that extends this previous one with an online model compensation, and the contribution of the hip joint against strong perturbations. In addition, both controllers are tested with the exoskeleton TWIICE One, worn by a complete spinal cord injury pilot. Their performances are compared by the mean of three tasks: standing quietly, resisting external perturbations, and lifting barbells of increasing weight. The new controller exhibits a similar performance for quiet standing, longer recovery time for dynamic perturbations but better ability to sustain prolonged perturbations, and higher weightlifting capability. |
topic |
balance posture controller exoskeleton position-control standing |
url |
https://www.frontiersin.org/articles/10.3389/frobt.2020.553828/full |
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