Artificial Human Balance Control by Calf Muscle Activation Modelling

Yin, Kaiyang; Chen, Jing; Xiang, Kui; Pang, Muye; Tang, Bing; Li, Jie; Yang, Longzhi

doi:10.1109/access.2020.2992567

Cited by 11 publications

(27 citation statements)

References 37 publications

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“…The human natural CNS includes two prime structures: spinal cord and the brain, which can be regarded as a hierarchical control structure [22]. The brain is usually referred to as an advanced central nervous system (ACNS), and the spinal cord is often known as the lower central nervous system (LCNS).…”

Section: Neural Controllermentioning

confidence: 99%

“…Case C: The exoskeleton is controlled by the proposed virtual neuromuscular control method. With reference to the important conclusion of biomedical research on the human ankle calf muscle [22], which provides the guidance for controller parameters setting, the virtual muscle mechanical model parameters in the experiment are shown in Table 2, and the parameters of the neural control are shown in Table 3.…”

Section: Experiments Conditionmentioning

confidence: 99%

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Virtual Neuromuscular Control for Robotic Ankle Exoskeleton Standing Balance

Yin

Xue

et al. 2022

Machines

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The exoskeleton is often regarded as a tool for rehabilitation and assistance of human movement. The control schemes were conventionally implemented by developing accurate physical and kinematic models, which often lack robustness to external variational disturbing forces. This paper presents a virtual neuromuscular control for robotic ankle exoskeleton standing balance. The robustness of the proposed method was improved by applying a specific virtual neuromuscular model to estimate the desired ankle torques for ankle exoskeleton standing balance control. In specialty, the proposed control method has two key components, including musculoskeletal mechanics and neural control. A simple version of the ankle exoskeleton was designed, and three sets of comparative experiments were carried out. The experimentation results demonstrated that the proposed virtual neuromuscular control could effectively reduce the wearer’s lower limb muscle activation, and improve the robustness of the different external disturbances.

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Section: Neural Controllermentioning

confidence: 99%

Section: Experiments Conditionmentioning

confidence: 99%

Virtual Neuromuscular Control for Robotic Ankle Exoskeleton Standing Balance

Yin

Xue

et al. 2022

Machines

Self Cite

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“…Mirvakili et al [1] analyzed the material, structure, and driving mechanism of artificial muscle and found that the performance indicators of artificial muscle actuators, such as force, power, cost, lifecycle, and efficiency, exceeded those of biological muscle. Yin et al [2] simulated an artificial muscle calf joint model designed by a natural neuromuscular model and showed that it successfully performed over 92% of the muscle activation that was naturally made by human participants. Terryn et al [3] applied the Diels-Alder polymer to artificial muscle, giving soft robots not only bionic flexibility for absorbing shock and preventing body damage but also a certain degree of self-healing ability.…”

Section: Introductionmentioning

confidence: 99%

Design of an Artificial Muscle Pressure Supply Mode Based on the Connected Structure

Zhang

et al. 2021

IEEE Access

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This paper proposes an air pressure supply structure for artificial muscles. The main body of the structure comprises a hollow tube, an electromagnet in the outer layer, and a magnetic piston in the inner diameter of the tube. At both ends, a hose interface connects the air inlet of the artificial muscle. Under the action of controlling changes in current, the electromagnet nested in the outer wall causes the movement of the piston by changing the force between the electromagnet and the magnetic piston and by changing the law of air pressure in the tube. Because the inside of the tube is a closed space, the movement of the magnetic piston in the tube causes a change in the volume of the gas at both ends, thus forming pressure differences of different sizes and directions. Therefore, this air supply, with specific oscillatory characteristics, can be used to produce the desired movement of artificial muscles. Through system modeling, theoretical analysis, and simulation experiments of the connected pressure supply structure, we verified that the system has inherent characteristics similar to a spring damping structure. In view of the inherent characteristics of this kind of structure, this paper introduces the trend of input and output changes by considering the deviation value, details how to improve the traditional neural network PID control algorithm, and discusses the intelligent optimization of controller parameters. Simulation results show that the improved control method can effectively overcome the nonlinear and coupling characteristics of the system, and the gas supply structure can provide a continuous pressure supply curve of an arbitrary waveform and a frequency within a certain amplitude range. The designed air supply structure was applied to a quadruped robot, using its oscillating characteristics to generate rhythmic movement. Compared with the traditional pressure control method, the piston was driven to produce reciprocating motion by fully exploiting the energy stored in the compressed gas, so as to reduce the external energy input and reduce the comprehensive energy consumption of the system. In addition, the control algorithm improved in this paper can meet diverse pressure requirements for driving artificial muscles. Moreover, the independent control of leg support force and stiffness can be realized by combining it with the antagonistic joints. This structure can be widely used in the pressure supply of outdoor robot artificial muscle.

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“…ese abilities of human beings have provided the best guidance to advance the design of robotic controllers. e authors in [11] attempted to build the virtual neuromuscular model for robotic control. is approach can generate human-like diverse and robust locomotion behaviors.…”

Section: Introductionmentioning

confidence: 99%

Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model

Yin

Xue

Yang

et al. 2021

Journal of Robotics

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The bipedal robot should be able to maintain standing balance even in the presence of disturbing forces. The control schemes of bipedal robot are conventionally developed based on system models or fixed torque-ankle states, which often lack robustness. In this paper, a variable impedance control based on artificial muscle activation is investigated for bipedal robotic standing balance to address this limitation. The robustness was improved by applying the artificial muscle activation model to adjust the impedance parameters. In particular, an ankle variable impedance model was used to obtain the antidisturbance torque which combined with the ankle dynamic torque to estimate the desired ankle torque for robotic standing balance. The simulation and prototype experimentation results demonstrate that the control method improves the robustness of bipedal robotic standing balance control.

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Artificial Human Balance Control by Calf Muscle Activation Modelling

Cited by 11 publications

References 37 publications

Virtual Neuromuscular Control for Robotic Ankle Exoskeleton Standing Balance

Virtual Neuromuscular Control for Robotic Ankle Exoskeleton Standing Balance

Design of an Artificial Muscle Pressure Supply Mode Based on the Connected Structure

Variable Impedance Control for Bipedal Robot Standing Balance Based on Artificial Muscle Activation Model

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