Study on control of a robotic orthosis actuated by pneumatic artificial muscle for gait rehabilitation

芝浦工業大学2019年

Tele-impedance based assistive control for a compliant knee exoskeleton

This paper presents a tele-impedance based assistive control scheme for a knee exoskeleton device. The proposed controller captures the user’s intent to generate task-related assistive torques by means of the exoskeleton in different phases of the subject’s normal activity. To do so, a detailed musculoskeletal model of the human knee is developed and experimentally calibrated to best match the user’s kinematic and dynamic behavior. Three dominant antagonistic muscle pairs are used in our model, in which electromyography (EMG) signals are acquired, processed and used for the estimation of the knee joint torque, trajectory and the stiffness trend, in real time. The estimated stiffness trend is then scaled and mapped to a task-related stiffness interval to agree with the desired degree of assistance. The desired stiffness and equilibrium trajectories are then tracked by the exoskeleton’s impedance controller. As a consequence, while minimum muscular activity corresponds to low stiffness, i.e. highly transparent motion, higher co-contractions result in a stiffer joint and a greater level of assistance. To evaluate the robustness of the proposed technique, a study of the dynamics of the human–exoskeleton system is conducted, while the stability in the steady state and transient condition is investigated. In addition, experimental results of standing-up and sitting-down tasks are demonstrated to further investigate the capabilities of the controller. The results indicate that the compliant knee exoskeleton, incorporating the proposed tele-impedance controller, can effectively generate assistive actions that are volitionally and intuitively controlled by the user’s muscle activity

Towards a human-in-the-loop control for a smart orthotic system

Dissertação de mestrado integrado em Engenharia Biomédica (área de especialização em Eletrónica Médica)Stroke is the main cause of paralysis. This pathology has provoked a considerable increase of persons with motor impairments. With a therapy focused on each clinical case, the total or partial recovery can be achieved. Powered orthoses have been developed to promote an effective recover, based on repetitive gait training and user’s active participation. Many control approaches have been developed to control these devices, but none of them promotes an user-oriented strategy focused to the user’s needs. In an attempt of solving this issue, a new approach named Human-in-the-loop is emerging. This strategy allows the adaptation of some assistive parameters based on the user’s energetic cost, promoting a therapy tailored to each end-user needs. However, to estimate the energy expenditure, the use of non-ergonomic sensors, not suitable for clinical context, is required. Thus, it is necessary to find new ways of estimating energy expenditure using wearable and comfortable sensors. In this dissertation, the first steps to introduce the Human-in-the-loop strategy into a powered orthosis are presented. For this purpose, two strategies were developed: a strategy that allows the angular trajectory adaptation in real-time and other that promotes a stiffness adaptation all over the gait cycle. Both strategies were validated with healthy subjects. In the first strategy, the orthosis was able to modify its assistance in a fraction of microseconds, and the end-users were able to follow her with a median error below 10%. Regarding the second strategy, the results show that the orthosis allowed an effective change in the systems’ interaction stiffness, promoting an active participation of each user during its assistance. The energetic impact of using the robotic assistive device is also presented. As it promotes an energy expenditure augmentation in more than 30% in comparison to walk without the device, the necessity of implementing the Human-in-the-loop strategy was highlighted. In an attempt of finding an ergonomic technique to estimate the energetic cost, the use of machine learning algorithms was tested. The results, obtained with a MLP and a LSTM, prove that it is possible to estimate the energy expenditure with a mean error close to 11%. Future work consists in the implementation of the model in real-time and the collection of more data with the aforementioned control approaches, in a way of constructing a more robust model.O AVC é uma das maiores causas de paralisia. Esta patologia, cada vez mais com maior incidência nos jovens, tem provocado um aumento considerável de pessoas com problemas de mobilidade. Com uma terapia focada a cada caso clínico, a recuperação total ou parcial pode ser conseguida. As ortóteses ativas têm vindo a ser desenvolvidas com o propósito de promover uma recuperação eficaz, baseada em treinos repetitivos e numa participação ativa dos utilizadores. Várias abordagens de controlo têm vindo a ser desenvolvidas para controlar estes dispositivos, mas nenhuma delas promove uma estratégia orientada às necessidades do utilizador. Na tentativa de solucionar este problema, uma nova abordagem, designada por Human-in-the-loop está a emergir. Baseada no custo energético, esta estratégia permite adaptar parâmetros da assistência, promovendo uma terapia focada e direcionada a cada utilizador. No entanto, para estimar o custo energético, recorre-se ao uso de sensores que não são adequados para contexto clínico. Assim, torna-se necessário estudar novas formas de estimar o custo energético. Nesta dissertação são apresentados os primeiros passos para introduzir o controlo Human-in-the-loop numa ortótese ativa. Para isso, duas estratégias foram apresentadas: uma estratégia que permite adaptar a trajetória angular da ortótese, em tempo real, e outra que promove a adaptação da complacência do sistema ao longo do ciclo da marcha. Ambas foram validadas com sujeitos saudáveis. Relativamente à primeira abordagem, a ortótese foi capaz de modificar a sua assistência em microssegundos, e os utilizadores foram capazes de a seguir com um erro mediano inferior a 10%. No que diz respeito à segunda abordagem, os resultados mostram que a ortótese promoveu uma alteração eficaz da complacência de interação, promovendo uma participação ativa do utilizador durante a sua assistência. O impacto energético do uso do sistema robótico é, também, apresentado. Promovendo um aumento do custo energético em mais de 30%, a necessidade da estratégia Human-in-the-loop foi realçada. Na tentativa de encontrar uma técnica para estimar o custo energético, recorreu-se ao uso de machine learning. Os resultados, obtidos com uma MLP e uma LSTM, provam que é possível estimar o custo energético com um erro médio próximo dos 11%. Trabalho futuro passa pela implementação do modelo em tempo real e a recolha de mais dados com as abordagens de controlo apresentadas, de forma a construir um modelo mais robusto

Otimização muscle-in-the-loop em tempo real para reabilitação física com um exosqueleto ativo: uma mudança de paradigma

Assisting human locomotion with a wearable robotic orthosis is still quite challenging, largely due to the complexity of the neuromusculoskeletal system, the time-varying dynamics that accompany motor adaptation, and the uniqueness of every individual’s response to the assistance given by the robot. To this day, these devices have not met their well-known promise yet, mostly due to the fact that they are not perfectly suitable for the rehabilitation of neuropathologic patients. One of the main challenges hampering this goal still relies on the interface and co-dependency between the human and the machine. Nowadays, most commercial exoskeletons replay pre-defined gait patterns, whereas research exoskeletons are switching to controllers based on optimized torque profiles. In most cases, the dynamics of the human musculoskeletal system are still ignored and do not take into account the optimal conditions for inducing a positive modulation of neuromuscular activity. This is because both rehabilitation strategies are still emphasized on the macro level of the whole joint instead of focusing on the muscles’ dynamics and activity, which are the actual anatomical elements that may need to be rehabilitated. Strategies to keep the human in the loop of the exoskeleton’s control laws in real-time may help to overcome these challenges. The main purpose of the present dissertation is to make a paradigm shift in the approach on how the assistance that is given to a subject by an exoskeleton is modelled and controlled during physical rehabilitation. Therefore, in the scope of the present work, it was intended to design, concede, implement, and validate a real-time muscle-in-the-loop optimization model to find the best assistive support ratio that would induce optimal rehabilitation conditions to a specific group of impaired muscles while having a minimum impact on the other healthy muscles. The developed optimization model was implemented in the form of a plugin and was integrated on a neuromechanical model-based interface for driving a bilateral ankle exoskeleton. Experimental pilot tests evaluated the feasibility and effectiveness of the model. Results of the most significant pilots achieved EMG reductions up to 61 ± 3 % in Soleus and 41 ± 10 % in Gastrocnemius Lateralis. Moreover, results also demonstrated the efficiency of the optimization’s specific reduction on rehabilitation by looking into the muscular fatigue after each experiment. Finally, two parallel preliminary studies emerged from the pilots, which looked at muscle adaptation, after a new assistive condition had been applied, over time and at the effect of the lateral positioning of the exoskeleton’s actuators on the leg muscles.Auxiliar a locomoção humana com uma ortose robótica ainda é bastante desafiante, em grande parte devido à complexidade do sistema neuromusculoesquelético, à dinâmica variável no tempo que acompanha a adaptação motora e à singularidade da resposta de cada indivíduo à assistência dada pelo robô. Até hoje, está por cumprir a promessa inicial destes dispositivos, principalmente devido ao facto de não serem perfeitamente adequados para a reabilitação de pacientes neuropatológicos. Um dos principais desafios que dificultam esse objetivo foca-se ainda na interface e na co-dependência entre o ser humano e a máquina. Hoje em dia, a maioria dos exoesqueletos comerciais reproduz padrões de marcha predefinidos, enquanto que os exoesqueletos em investigação estão só agora a mudar para controladores com base em perfis de binário otimizados. Na maioria dos casos, a dinâmica do sistema musculoesquelético humano ainda é ignorada e não tem em consideração as condições ideais para induzir uma modulação positiva da atividade neuromuscular. Isso ocorre porque ambas as estratégias de reabilitação ainda são enfatizadas no nível macro de toda a articulação, em vez de se concentrar na dinâmica e atividade dos músculos, que são os elementos anatómicos que realmente precisam de ser reabilitados. Estratégias para manter o ser humano em loop nos comandos que controlam o exoesqueleto em tempo real podem ajudar a superar estes desafios. O principal objetivo desta dissertação é fazer uma mudança de paradigma na abordagem em como a assistência que é dada a um sujeito por um exosqueleto é modelada e controlada durante a reabilitação física. Portanto, no contexto do presente trabalho, pretendeu-se projetar, conceder, implementar e validar um modelo de otimização muscle-in-the-loop em tempo real para encontrar a melhor relação de suporte capaz de induzir as condições ideais de reabilitação para um grupo específico de músculos fragilizados, tendo um impacto mínimo nos outros músculos saudáveis. O modelo de otimização desenvolvido foi implementado na forma de um plugin e foi integrado numa interface baseada num modelo neuromecânico para o controlo de um exoesqueleto bilateral de tornozelo. Testes experimentais piloto avaliaram a viabilidade e a eficácia do modelo. Os resultados dos testes mais significativos demonstraram reduções de EMG de até 61 ± 3 % no Soleus e 41 ± 10 % no Gastrocnemius Lateral. Adicionalmente, os resultados demonstraram também a eficiência em reabilitação da redução específica no EMG devido à otimização tendo em conta a fadiga muscular após cada teste. Finalmente, dois estudos preliminares paralelos emergiram dos testes piloto, que analisaram a adaptação muscular após uma nova condição assistiva ter sido definida ao longo do tempo e o efeito do posicionamento lateral dos atuadores do exoesqueleto nos músculos da perna.Mestrado em Engenharia Biomédic

Design of an Elastic Actuation System for a Gait-Assistive Active Orthosis for Incomplete Spinal Cord Injured Subjects

A spinal cord injury severely reduces the quality of life of affected people. Following the injury, limitations of the ability to move may occur due to the disruption of the motor and sensory functions of the nervous system depending on the severity of the lesion. An active stance-control knee-ankle-foot orthosis was developed and tested in earlier works to aid incomplete SCI subjects by increasing their mobility and independence. This thesis aims at the incorporation of elastic actuation into the active orthosis to utilise advantages of the compliant system regarding efficiency and human-robot interaction as well as the reproduction of the phyisological compliance of the human joints. Therefore, a model-based procedure is adapted to the design of an elastic actuation system for a gait-assisitve active orthosis. A determination of the optimal structure and parameters is undertaken via optimisation of models representing compliant actuators with increasing level of detail. The minimisation of the energy calculated from the positive amount of power or from the absolute power of the actuator generating one human-like gait cycle yields an optimal series stiffness, which is similar to the physiological stiffness of the human knee during the stance phase. Including efficiency factors for components, especially the consideration of the electric model of an electric motor yields additional information. A human-like gait cycle contains high torque and low velocities in the stance phase and lower torque combined with high velocities during the swing. Hence, the efficiency of an electric motor with a gear unit is only high in one of the phases. This yields a conceptual design of a series elastic actuator with locking of the actuator position during the stance phase. The locked position combined with the series compliance allows a reproduction of the characteristics of the human gait cycle during the stance phase. Unlocking the actuator position for the swing phase enables the selection of an optimal gear ratio to maximise the recuperable energy. To evaluate the developed concept, a laboratory specimen based on an electric motor, a harmonic drive gearbox, a torsional series spring and an electromagnetic brake is designed and appropriate components are selected. A control strategy, based on impedance control, is investigated and extended with a finite state machine to activate the locking mechanism. The control scheme and the laboratory specimen are implemented at a test bench, modelling the foot and shank as a pendulum articulated at the knee. An identification of parameters yields high and nonlinear friction as a problem of the system, which reduces the energy efficiency of the system and requires appropriate compensation. A comparison between direct and elastic actuation shows similar results for both systems at the test bench, showing that the increased complexity due to the second degree of freedom and the elastic behaviour of the actuator is treated properly. The final proof of concept requires the implementation at the active orthosis to emulate uncertainties and variations occurring during the human gait

On improving control and efficiency of a portable pneumatically powered ankle-foot orthosis

Ankle foot orthoses (AFOs) are widely used as assistive and/or rehabilitation devices to correct gait of people with lower leg neuromuscular dysfunction and muscle weakness. An AFO is an external device worn on the lower leg and foot that provides mechanical assistance at the ankle joint. Active AFOs are powered devices that provide assistive torque at the ankle joint. We have previously developed the Portable Powered Ankle-Foot Orthosis (PPAFO), which uses pneumatic power via compressed CO2 to provide untethered ankle torque assistance. My dissertation work focused on the development of control strategies for the PPAFO that are robust, applicable to different gait patterns, functional in different gait modes, and energy efficient. Three studies addressing these topics are presented in this dissertation: (1) estimation of the system state during the gait cycle for actuation control; (2) gait mode recognition and control (e.g., stair and ramp descent/ascent); and (3) system analysis and improvement of pneumatic energy efficiency. Study 1 presents the work on estimating the gait state for powered AFO control. The proposed scheme is a state estimator that reliably detects gait events while using only a limited array of sensor data (ankle angle and contact forces at the toe and heel). Our approach uses cross-correlation between a window of past measurements and a learned model to estimate the configuration of the human walker, and detects gait events based on this estimate. The proposed state estimator was experimentally validated on five healthy subjects and with one subject that had neuromuscular impairment. The results highlight that this new approach reduced the root-mean-square error by up to 40% for the impaired subject and up to 49% for the healthy subjects compared to a simplistic direct event controller. Moreover, this approach was robust to perturbations due to changes in walking speed and control actuation. Study 2 proposed a gait mode recognition and control solution to identify a change in walking environment such as stair and ramp ascent/descent. Since portability is a key to the success of the PPAFO as a gait assist device, it is critical to recognize and control for multiple gait modes (i.e., level walking, stair ascent/descent and ramp ascent/descent). While manual mode switching is implemented on most devices, we propose an automatic gait mode recognition scheme by tracking the 3D position of the PPAFO from an inertial measurement unit (IMU). Experimental results indicate that the controller was able to identify the position, orientation and gait mode in real time, and properly control the actuation. The overall recognition success rate was over 97%. Study 3 addressed improving operational runtime by analyzing the system efficiency and proposing an energy harvesting and recycling scheme to save fuel. Through a systematic analysis, the overall system efficiency was determined by deriving both the system operational efficiency and the system component efficiency. An improved pneumatic operation utilized an accumulator to harvest and then recycle the exhaust energy from a previous actuation to power the subsequent actuation. The overall system efficiency was improved from 20.5% to 29.7%, a fuel savings of 31%. Work losses across pneumatic components and solutions to improve them were quantified and discussed. Future work including reducing delay in recognition, exploring faulty recognition, additional options for harvesting human energy, and learning control were proposed

DEVELOPMENT OF A ROBOTIC EXOSKELETON SYSTEM FOR GAIT REHABILITATION

Ph.DDOCTOR OF PHILOSOPH

Design And Development of A Powered Pediatric Lower-limb Orthosis

Gait impairments from disorders such as cerebral palsy are important to address early in life. A powered lower-limb orthosis can offer therapists a rehabilitation option using robot-assisted gait training. Although there are many devices already available for the adult population, there are few powered orthoses for the pediatric population. The aim of this dissertation is to embark on the first stages of development of a powered lower-limb orthosis for gait rehabilitation and assistance of children ages 6 to 11 years with walking impairments from cerebral palsy. This dissertation presents the design requirements of the orthosis, the design and fabrication of the joint actuators, and the design and manufacturing of a provisional version of the pediatric orthosis. Preliminary results demonstrate the capabilities of the joint actuators, confirm gait tracking capabilities of the actuators in the provisional orthosis, and evaluate a standing balance control strategy on the under-actuated provisional orthosis in simulation and experiment. In addition, this dissertation presents the design methodology for an anthropometrically parametrized orthosis, the fabrication of the prototype powered orthosis using this design methodology, and experimental application of orthosis hardware in providing walking assistance with a healthy adult. The presented results suggest the developed orthosis hardware is satisfactorily capable of operation and functional with a human subject. The first stages of development in this dissertation show encouraging results and will act as a foundation for further iv development of the device for rehabilitation and assistance of children with walking impairments