外骨格アタランテにおける安全な歩行リハビリテーションの実現：実験結果
Enabling safe walking rehabilitation on the exoskeleton Atalante: experimental results
下肢外骨格アタランテで、患者の筋力に応じて歩行軌道をオンライン最適化し、安定性を保ちながらリハビリを可能にする制御系を開発し、実験で検証した。
著者: Maxime Brunet, Marine Pétriaux, Florent Di Meglio, Nicolas Petit
分類: cs.RO
原文アブストラクト
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to allow the patient to contribute to the walking motion through their efforts. Only the swing leg degree of freedom along the nominal path is relaxed. An online trajectory optimization checks that the muscle forces do not jeopardize stability. The optimization generates reference trajectories that satisfy several key constraints from the current point to the end of the step. One of the constraints requires that the center or pressure remains inside the support polygon, which ensures that the support leg subsystem successfully tracks the reference trajectory. As a result of the presented works, the robot provides a non-zero force in the direction of motion only when required, helping the patient go fast enough to maintain balance (or preventing him from going too fast). Experimental results are reported. They illustrate that variations of $\pm$50% of the duration of the step can be achieved in response to the patient's efforts and that many steps are achieved without falling. A video of the experiments can be viewed at https://youtu.be/_1A-2nLy5ZE
