Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory

Deng, Mei-ying; Ma, Zhangyi; Wang, Yingnan; Wang, Han-song; Zhao, Yibing; Wei, Qianxiao; Yang, Wei; Yang, Canjun

doi:10.1631/fitee.1800777

Cited by 14 publications

(11 citation statements)

References 16 publications

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“…), reasonable physical therapy (heat treatments [4][5][6] , electrotherapy 7 , etc. ), rehabilitation training methods (gait correction training 8,9 , etc.) and effective means of prevention (injury risk early warning system [10][11][12] , etc.)…”

Section: Introductionmentioning

confidence: 99%

Biocompatible and breathable healthcare electronics with sensing performances and photothermal antibacterial effect for motion-detecting

et al. 2022

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With the booming development of smart wearable devices, flexible multifunctional composites with high sensitivity and well health therapy have evoked great interest for next-generation healthcare electronics. However, the weak biocompatibility, low breathability, and narrow sensing range greatly hinder the development of healthcare sensors. Herein, a porous, flexible and conductive MXene/Polydimethylsiloxane/Polydopamine/Polyurethane Sponge (MXene/PDMS/PDA/PU) nanocomposite is developed as a promising motion-detecting device with good flexibility, breathability, sensing performance, photothermal therapy and antibacterial activity. Benefiting from the porous structure and biocompatible surface, this multifunctional sensor is further fabricated into a diagnostic and therapeutic system for monitoring human body motion and performing hot therapy/antibacterial treatment in the application of sports injury site. Moreover, both the wireless smart insole and cushion are constructed to gait monitoring and sit position detecting. This multifunctional hybrid sponge not only demonstrates great potential for motion monitoring sensors but also exhibits wide potential in wearable medical assistive and therapeutic systems.

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Section: Introductionmentioning

confidence: 99%

Biocompatible and breathable healthcare electronics with sensing performances and photothermal antibacterial effect for motion-detecting

et al. 2022

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“…Full mobilization exoskeletons are designed to move the legs of people suffering from severe loss of motor control or motor disorders, typically in people with spinal cord injury (SCI) and neuromuscular disorders [3,4], to perform activities of daily living (ADL) [2,[5][6][7][8]. Lower limb rehabilitation exoskeletons (LLREs) with multi-joint actuation for full mobilization have been used more often nowadays in rehabilitation clinics and have shown great benefits to improve mobility for people with a variety of neuromuscular disorders such as muscle weakness or paralysis) [3,4,9,10]. Further investigation on LLREs to assist people with neuromuscular disorders is an important part of rehabilitation exoskeleton (RE) research frontiers [9,10].…”

Section: Introductionmentioning

confidence: 99%

“…Lower limb rehabilitation exoskeletons (LLREs) with multi-joint actuation for full mobilization have been used more often nowadays in rehabilitation clinics and have shown great benefits to improve mobility for people with a variety of neuromuscular disorders such as muscle weakness or paralysis) [3,4,9,10]. Further investigation on LLREs to assist people with neuromuscular disorders is an important part of rehabilitation exoskeleton (RE) research frontiers [9,10].…”

Section: Introductionmentioning

confidence: 99%

Robust Walking Control of a Lower Limb Rehabilitation Exoskeleton Coupled with a Musculoskeletal Model via Deep Reinforcement Learning

Luo

Androwis

Adamovich

et al. 2021

Preprint

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Background: Few studies have systematically investigated robust controllers for lower limb rehabilitation exoskeletons (LLREs) that can safely and effectively assist users with a variety of neuromuscular disorders to walk with full autonomy. One of the key challenges for developing such a robust controller is to handle different degrees of uncertain human-exoskeleton interaction forces from the patients. Consequently, conventional walking controllers either are patient-condition specific or involve tuning of many control parameters, which could behave unreliably and even fail to maintain balance. Methods: We present a novel and robust controller for a LLRE based on a decoupled deep reinforcement learning framework with three independent networks, which aims to provide reliable walking assistance against various and uncertain human-exoskeleton interaction forces. The exoskeleton controller is driven by a neural network control policy that acts on a stream of the LLRE’s proprioceptive signals, including joint kinematic states, and subsequently predicts real-time position control targets for the actuated joints. To handle uncertain human-interaction forces, the control policy is trained intentionally with an integrated human musculoskeletal model and realistic human-exoskeleton interaction forces. Two other neural networks are connected with the control policy network to predict the interaction forces and muscle coordination. To further increase the robustness of the control policy, we employ domain randomization during training that includes not only randomization of exoskeleton dynamics properties but, more importantly, randomization of human muscle strength to simulate the variability of the patient’s disability. Through this decoupled deep reinforcement learning framework, the trained controller of LLREs is able to provide reliable walking assistance to the human with different degrees of neuromuscular disorders. Results and Conclusion: A universal, RL-based walking controller is trained and virtually tested on a LLRE system to verify its effectiveness and robustness in assisting users with different disabilities such as passive muscles (quadriplegic), muscle weakness, or hemiplegic conditions. An ablation study demonstrates strong robustness of the control policy under large exoskeleton dynamic property ranges and various human-exoskeleton interaction forces. The decoupled network structure allows us to isolate the LLRE control policy network for testing and sim-to-real transfer since it uses only proprioception information of the LLRE (joint sensory state) as the input. Furthermore, the controller is shown to be able to handle different patient conditions without the need for patient-specific control parameters tuning.

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“…The CP concept has been widely used in the balance control of biped robots (Englsberger et al , 2011; Englsberger and Ott, 2012; Krause et al , 2012; Morisawa et al , 2012) and gradually began to be applied to the lower extremity exoskeleton. Deng et al (2019) applied the CP concept to exoskeleton trajectory planning, creating a stable operation of the exoskeleton. Zha et al (2019) used fuzzy logical control (FLC) and the CP concept to provide balance assistance to the human body.…”

Section: Introductionmentioning

confidence: 99%

Push recovery control for the underactuated lower extremity exoskeleton based on improved capture point concept

Zhang

Cong

Dong

et al. 2021

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Purpose The purpose of this paper is to use a simple method to enhance the ability of lower limb exoskeletons to restore balance under large interference conditions and to solve the problem that biped robot stability criterion cannot be fully applied to the underactuated lower limb exoskeletons. Design/methodology/approach The method used in this paper is to construct an underactuated lower extremity exoskeleton ankle joint with a torsion spring. Based on the constructed exoskeleton, the linear inverted torsion spring pendulum model is proposed, and the traditional capture point (CP) concept is optimized. Findings The underactuated exoskeleton ankle joint with torsion springs, combined with the improved CP concept, can effectively reduce the forward stepping distance under the same interference condition, which is equivalent to enhancing the balance ability of the lower extremity exoskeleton. Originality/value The contribution of this paper is to enhance the balance ability of the exoskeleton of the lower limbs under large interference conditions. The torsion spring is used as the exoskeleton ankle joint, and the traditional CP concept is optimized according to the constructed exoskeleton.

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Fall preventive gait trajectory planning of a lower limb rehabilitation exoskeleton based on capture point theory

Cited by 14 publications

References 16 publications

Biocompatible and breathable healthcare electronics with sensing performances and photothermal antibacterial effect for motion-detecting

Biocompatible and breathable healthcare electronics with sensing performances and photothermal antibacterial effect for motion-detecting

Robust Walking Control of a Lower Limb Rehabilitation Exoskeleton Coupled with a Musculoskeletal Model via Deep Reinforcement Learning

Push recovery control for the underactuated lower extremity exoskeleton based on improved capture point concept

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