Stabilization of Exoskeletons through Active Ankle Compensation

This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective of this paper is to present a practical method of realizing more robust walking on hardware through active ankle compensation. The nominal gait was generated through the hybrid zero dynamic framework. The ankles are individually controlled to establish three main directives; (1) keeping the non-stance foot parallel to the ground, (2) maintaining rigid contact between the stance foot and the ground, and (3) closing the loop on pelvis orientation to achieve better tracking. Each individual component of this method was demonstrated separately to show each component's contribution to stability. The results showed that the ankle controller was able to experimentally maintain static balance in the sagittal plane while the exoskeleton was balanced on one leg, even when disturbed. The entire ankle controller was then also demonstrated on crutch-less dynamic walking. During testing, an anatomically correct manikin was placed in the exoskeleton, in lieu of a paraplegic patient. The pitch of the pelvis of the exoskeleton-manikin system was shown to track the gait trajectory better when ankle compensation was used. Overall, active ankle compensation was demonstrated experimentally to improve balance in the sagittal plane of the exoskeleton manikin system and points to an improved practical approach for stable walking

Towards Variable Assistance for Lower Body Exoskeletons

This letter presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates the spinal learning process of people with a walking impediment when using a lower body exoskeleton. With this as motivation, we present a method to accurately control how much a subject is allowed to deviate from a given gait while ensuring robustness to patient perturbation. This method leverages control barrier functions to force certain joints to remain inside predefined trajectory tubes in a minimally invasive way. The effectiveness of the method is demonstrated experimentally with able-bodied subjects and the Atalante lower body exoskeleton

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

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

"I will never forget the emotion of my first steps […]," were the words of Fran?oise, the first user during initial trials of the exoskeleton ATALANTE [1]. "I am tall again!" were the words of Sandy (the fourth user) after standing up in the exoskeleton. During these early tests, complete paraplegic patients dynamically walked up to 10 m without crutches or other assistance using a feedback control method originally invented for bipedal robots. As discussed in "Summary," this article describes the hardware (shown in Figure 1) that was designed to achieve hands-free dynamic walking, the control laws that were deployed (and those being developed) to provide enhanced mobility and robustness, and preliminary test results. In this article, dynamic walking refers to a motion that is orbitally stable as opposed to statically stable

Chromosome evolution in Cophomantini (Amphibia, Anura, Hylinae)

The hylid tribe Cophomantini is a diverse clade of Neotropical treefrogs composed of the genera Aplastodiscus, Boana, Bokermannohyla, Hyloscirtus, and Myersiohyla. The phylogenetic relationships of Cophomantini have been comprehensively reviewed in the literature, providing a suitable framework for the study of chromosome evolution. Employing different banding techniques, we studied the chromosomes of 25 species of Boana and 3 of Hyloscirtus; thus providing, for the first time, data for Hyloscirtus and for 15 species of Boana. Most species showed karyotypes with 2n = 2x = 24 chromosomes; some species of the B. albopunctata group have 2n = 2x = 22, and H. alytolylax has 2n = 2x = 20. Karyotypes are all bi-armed in most species presented, with the exception of H. larinopygion (FN = 46) and H. alytolylax (FN = 38), with karyotypes that have a single pair of small telocentric chromosomes. In most species of Boana, NORs are observed in a single pair of chromosomes, mostly in the small chromosomes, although in some species of the B. albopunctata, B. pulchella, and B. semilineata groups, this marker occurs on the larger pairs 8, 1, and 7, respectively. In Hyloscirtus, NOR position differs in the three studied species: H. alytolylax (4p), H. palmeri (4q), and H. larinopygion (1p). Heterochromatin is a variable marker that could provide valuable evidence, but it would be necesserary to understand the molecular composition of the C-bands that are observed in different species in order to test its putative homology. In H. alytolylax, a centromeric DAPI+ band was observed on one homologue of chromosome pair 2. The band was present in males but absent in females, providing evidence for an XX/XY sex determining system in this species. We review and discuss the importance of the different chromosome markers (NOR position, C-bands, and DAPI/CMA3 patterns) for their impact on the taxonomy and karyotype evolution in Cophomantini