Parameter optimization for passive spinal exoskeletons based on experimental data and optimal control

Harant, Monika; Sreenivasa, Manish; Millard, Matthew; Šarabon, Nejc; Mombaur, Katja

doi:10.1109/humanoids.2017.8246924

Cited by 11 publications

(23 citation statements)

References 14 publications

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“…More details can be found e.g. in [5,8] or [9]. Current research on modeling and optimization in the SPEXOR project involves inverse optimal control of patients with back pain, with the aim to identify behavior models in terms of optimality criteria for such patients with which further motion prediction and design optimization can be performed.…”

Section: Modeling and Optimizationmentioning

confidence: 99%

SPEXOR: Design and development of passive spinal exoskeletal robot for low back pain prevention and vocational reintegration

et al. 2019

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The objective of SPEXOR project is to address low back pain as one of the most appealing health problems of the modern society by creating a body of scientific and technological knowledge in the multidisciplinary areas of biomechanics, robotics, and computer science that will lead to technologies for low back pain prevention. In this paper we provide an overview of the current state-of-art of SPEXOR that the consortium achieved in the first twenty-four months of the project. After introducing the rationale, we describe the biomechanics of low back pain intervention, development of the musculoskeletal stress monitoring for assessment of neuromuscular trunk functions, modeling and optimization of the interaction of spinal exoskeleton with the human body, electromechanical design and development of the passive spinal exoskeleton and its control, and finally the end-user evaluation of the functional effects, usability and satisfaction.

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Section: Modeling and Optimizationmentioning

confidence: 99%

SPEXOR: Design and development of passive spinal exoskeletal robot for low back pain prevention and vocational reintegration

et al. 2019

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“…We compare our predictions to experimental data recorded as part of a previous study (Harant et al, 2017). We recorded full body kinematics, ground reaction forces, and hand-box forces of 4 male subjects (age 21-25 years, weight 67-103 kg, height 1.7-1.9 m) lifting a 10 kg box using a stoop lift.…”

Section: Experimental Comparisonsmentioning

confidence: 99%

“…The bending and lifting phase durations were variables of the OCP. The gripping phase duration was fixed to 0.125 s based on experimental observations of the time required by subjects to grip and lift a box off the ground (Harant et al, 2017).…”

Section: Optimal Lifting Motionsmentioning

confidence: 99%

“…Joint torques were computed from joint angles, recorded ground reaction forces, and recorded hand-box forces using inverse dynamics analysis. Further detail about the experimental analysis is available in Harant et al (2017). In addition, we report the values for lumbar flexion and lumbar net torque from Kingma et al (2004) and Faber et al (2011).…”

Section: Experimental Comparisonsmentioning

confidence: 99%

“…In general, optimal control solves for state and control trajectories that satisfy the system dynamics subject to constraints such that the value of an underlying objective function is minimized. More commonly, optimal control has been applied to simulating gait (Anderson and Pandy, 2001;Ackermann and van den Bogert, 2010;Mombaur, 2016;Sreenivasa et al, 2017) and sit-to-stand motions (Sadeghi et al, 2013;Mombaur and Hoang, 2017), with relatively limited number of studies focusing on lifting motions (Arjmand and Shirazi-Adl, 2006;Manns et al, 2017;Millard et al, 2017;Harant et al, 2017). Despite these challenges, simulations can help answer biomechanical questions that are impractical or impossible to answer using experimental analysis alone.…”

Section: Introductionmentioning

confidence: 99%

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Predicting the influence of hip and lumbar flexibility on lifting motions using optimal control

Sreenivasa

Millard

Kingma

et al. 2018

Journal of Biomechanics

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Computational models of the human body coupled with optimization can be used to predict the influence of variables that cannot be experimentally manipulated. Here, we present a study that predicts the motion of the human body while lifting a box, as a function of flexibility of the hip and lumbar joints in the sagittal plane. We modeled the human body in the sagittal plane with joints actuated by pairs of agonist-antagonist muscle torque generators, and a passive hamstring muscle. The characteristics of a stiff, average and flexible person were represented by co-varying the lumbar range-of-motion, lumbar passive extensor-torque and the hamstring passive muscle-force. We used optimal control to solve for motions that simulated lifting a 10 kg box from a 0.3 m height. The solution minimized the total sum of the normalized squared active and passive muscle torques and the normalized passive hamstring muscle forces, over the duration of the motion. The predicted motion of the average lifter agreed well with experimental data in the literature. The change in model flexibility affected the predicted joint angles, with the stiffer models flexing more at the hip and knee, and less at the lumbar joint, to complete the lift. Stiffer models produced similar passive lumbar torque and higher hamstring muscle force components than the more flexible models. The variation between the motion characteristics of the models suggest that flexibility may play an important role in determining lifting technique.

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Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Work Tasks

Harant¹,

Sreenivasa²,

Millard³

et al. 2018

Biosystems &Amp; Biorobotics

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Parameter optimization for passive spinal exoskeletons based on experimental data and optimal control

Cited by 11 publications

References 14 publications

SPEXOR: Design and development of passive spinal exoskeletal robot for low back pain prevention and vocational reintegration

SPEXOR: Design and development of passive spinal exoskeletal robot for low back pain prevention and vocational reintegration

Predicting the influence of hip and lumbar flexibility on lifting motions using optimal control

Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Work Tasks

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