Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking

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.Comment: Submitted to IEEE Control System Magazine. This version addresses reviewers' concerns about the robustness of the algorithm and the motivation for using such exoskeleton

Mechanical engineering challenges in humanoid robotics

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.Includes bibliographical references (p. 36-39).Humanoid robots are artificial constructs designed to emulate the human body in form and function. They are a unique class of robots whose anthropomorphic nature renders them particularly well-suited to interact with humans in a world designed for humans. The present work examines a subset of the plethora of engineering challenges that face modem developers of humanoid robots, with a focus on challenges that fall within the domain of mechanical engineering. The challenge of emulating human bipedal locomotion on a robotic platform is reviewed in the context of the evolutionary origins of human bipedalism and the biomechanics of walking and running. Precise joint angle control bipedal robots and passive-dynamic walkers, the two most prominent classes of modem bipedal robots, are found to have their own strengths and shortcomings. An integration of the strengths from both classes is likely to characterize the next generation of humanoid robots. The challenge of replicating human arm and hand dexterity with a robotic system is reviewed in the context of the evolutionary origins and kinematic structure of human forelimbs. Form-focused design and function-focused design, two distinct approaches to the design of modem robotic arms and hands, are found to have their own strengths and shortcomings. An integration of the strengths from both approaches is likely to characterize the next generation of humanoid robots.by Peter Guang Yi Lu.S.B

Interactive Behaviors for Bipedal Articulated Figures

We describe techniques for interactively controlling bipedal articulated figures through kinematic constraints. These constraints model certain behavioral tendencies which capture some of the characteristics of human-like movement, and give us control over such elements as the figures\u27 balance and stability. They operate in near real-time, so provide behavioral control for interactive manipulation. These constraints form the basis of an interactive motion-generation system that allows the active movement elements to be layered on top of the passive behavioral constraints

Exploiting Natural Dynamics in the Control of a Planar Bipedal Walking Robot

Natural dynamics can be exploited in the control of bipedal walking robots: the swing leg can swing freely once started; a kneecap can be used to prevent the leg from inverting; and a compliant ankle can be used to naturally transfer the center of pressure along the foot and help in toe o#. Each of these mechanisms helps make control easier to achieve and results in motion that is smooth and natural looking. We describe a simple control algorithm using these natural mechanisms which requires very little computation. The necessary sensing consists of joint angles and velocities, body pitch and angular velocity, and ground reaction forces. Using this simple algorithm, we have controlled a seven link planar bipedal robot, called Spring Flamingo, to walk. Video, photographs, and more information on Spring Flamingo can be found at http://www.leglab.ai.mit.edu 1 Introduction A powerful practice in machine design and control is to design mechanisms which have natural dynamics that make contr..

The influence of visual information on multi-muscle control during quiet stance: a spectral analysis approach

Standing upright requires the coordination of neural drives to a large set of muscles involved in controlling human bipedal stance (i.e., postural muscles). The coordination may deteriorate in situations where standing is performed under more challenging circumstances, such as standing on a smaller base of support or not having adequate visual information. The present study investigates the role of common neural inputs in the organization of multi-muscle synergies and the effects of visual input disruption to this mechanism of control. We analyzed the strength and distribution of correlated neural inputs (measured by intermuscular coherence) to six postural muscles previously recognized as components of synergistic groups involved in the maintenance of the body's vertical positioning. Two experimental conditions were studied: quiet bipedal stance performed with opened eyes (OEs) and closed eyes (CEs). Nine participants stood quietly for 30 s while the activity of the soleus, biceps femoris, lumbar erector spinae, tibialis anterior, rectus femoris, and rectus abdominis muscles were recorded using surface electrodes. Intermuscular (EMG-EMG) coherence was estimated for 12 muscle pairs formed by these muscles, including pairs formed solely by either posterior, anterior, or mixed (one posterior and one anterior) muscles. Intermuscular coherence was only found to be significant for muscle pairs formed solely by either posterior or anterior muscles, and no significant coherence was found for mixed muscle pairs. Significant intermuscular coherence was only found within a distinct frequency interval bounded between 1 and 10 Hz when visual input was available (OEs trials). The strength of correlated neural inputs was similar across muscle pairs located in different joints but executing a similar function (pushing body either backward or forward) suggesting that synergistic postural groups are likely formed based on their functional role instead of their anatomical location. Absence of visual information caused a significant decrease in intermuscular coherence. These findings are consistent with the hypothesis that correlated neural inputs are a mechanism used by the CNS to assemble synergistic muscle groups. Further, this mechanism is affected by interruption of visual input

Safe Whole-Body Task Space Control for Humanoid Robots

Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to steer away from undesired robot configurations to prevent unsafe behaviors. A prime example is legged robotics, where we can have tasks such as balance control, regulation of torso orientation, and, most importantly, walking. As the coordination of multi-body systems is non-trivial, following a combination of those tasks might lead to configurations that are deemed dangerous, such as stepping on its support foot during walking, leaning the torso excessively, or producing excessive centroidal momentum, resulting in non-human-like walking. To address these challenges, we propose a formulation of an inverse dynamics control enhanced with exponential control barrier functions for robotic systems with numerous degrees of freedom. Our approach utilizes a quadratic program that respects closed kinematic chains, minimizes the control objectives, and imposes desired constraints on the Zero Moment Point, friction cone, and torque. More importantly, it also ensures the forward invariance of a general user-defined high Relative-Degree safety set. We demonstrate the effectiveness of our method by applying it to the 3D biped robot Digit, both in simulation and with hardware experiments.Comment: 8 pages, 12 figure