下半身外骨格のための可変アシスト制御フレームワーク
Towards Variable Assistance for Lower Body Exoskeletons
制御バリア関数を用いて、歩行軌道からの逸脱量を安全に調整できる下半身外骨格の可変アシスト手法を提案し、健常者とAtalante外骨格で実験的に有効性を示した。
著者: Thomas Gurriet, Maegan Tucker, Alexis Duburcq, Guilhem Boeris, Aaron D. Ames
分類: cs.RO
原文アブストラクト
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates the spinal learning process of people with a walking impediment when using a lower body exoskeleton. With this as motivation, we present a method to accurately control how much a subject is allowed to deviate from a given gait while ensuring robustness to patient perturbation. This method leverages control barrier functions to force certain joints to remain inside predefined trajectory tubes in a minimally invasive way. The effectiveness of the method is demonstrated experimentally with able-bodied subjects and the Atalante lower body exoskeleton.
