対麻痺者用外骨格のフィードバック制御：安定なハンズフリー動歩行に向けて
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
対麻痺者用の多自由度下肢外骨格において、松葉杖なしで歩行できるよう、最適化と機械学習を用いた滑らかなフィードバック制御則を開発し、シミュレーションと予備実験で安定性と外乱抑制を評価した。
著者: Omar Harib, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Sylvain Finet, Guilhem Boeris, Alexis Duburcq, M. Eva Mungai, Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, Jessy Grizzle
分類: cs.RO
原文アブストラクト
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We harness the power of modern optimization techniques and supervised machine learning to develop a smooth feedback control policy that provides robust velocity regulation and perturbation rejection. Preliminary evaluation of the stability and robustness of the proposed approach is demonstrated through the Gazebo simulation environment. In addition, preliminary experimental results with (complete) paraplegic individuals are included for the previous version of the controller.
