Molazadeh, Vahidreza and Zhang, Qiang and Bao, Xuefeng and Dicianno, Brad E. and Sharma, Nitin (2021) Shared Control of a Powered Exoskeleton and Functional Electrical Stimulation Using Iterative Learning. Frontiers in Robotics and AI, 8. ISSN 2296-9144
![[thumbnail of pubmed-zip/versions/1/package-entries/frobt-08-711388/frobt-08-711388.pdf]](http://science.oadigitallibraries.com/style/images/fileicons/text.png)
pubmed-zip/versions/1/package-entries/frobt-08-711388/frobt-08-711388.pdf - Published Version
Download (3MB)
Abstract
A hybrid exoskeleton comprising a powered exoskeleton and functional electrical stimulation (FES) is a promising technology for restoration of standing and walking functions after a neurological injury. Its shared control remains challenging due to the need to optimally distribute joint torques among FES and the powered exoskeleton while compensating for the FES-induced muscle fatigue and ensuring performance despite highly nonlinear and uncertain skeletal muscle behavior. This study develops a bi-level hierarchical control design for shared control of a powered exoskeleton and FES to overcome these challenges. A higher-level neural network–based iterative learning controller (NNILC) is derived to generate torques needed to drive the hybrid system. Then, a low-level model predictive control (MPC)-based allocation strategy optimally distributes the torque contributions between FES and the exoskeleton’s knee motors based on the muscle fatigue and recovery characteristics of a participant’s quadriceps muscles. A Lyapunov-like stability analysis proves global asymptotic tracking of state-dependent desired joint trajectories. The experimental results on four non-disabled participants validate the effectiveness of the proposed NNILC-MPC framework. The root mean square error (RMSE) of the knee joint and the hip joint was reduced by 71.96 and 74.57%, respectively, in the fourth iteration compared to the RMSE in the 1st sit-to-stand iteration.
Item Type: | Article |
---|---|
Subjects: | Academics Guard > Mathematical Science |
Depositing User: | Unnamed user with email support@academicsguard.com |
Date Deposited: | 23 Jun 2023 07:20 |
Last Modified: | 22 Jun 2024 09:33 |
URI: | http://science.oadigitallibraries.com/id/eprint/1226 |