FMCH: A new model for human-like postural control in walking

Sharbafi, Maziar Ahmad; Seyfarth, André

doi:10.1109/iros.2015.7354192

Cited by 58 publications

(91 citation statements)

References 19 publications

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“…They switched systems with robotic marionettes in a workshop on Discrete Event systems. Maziar and Andre (2015) in Gemany studied about the leg function and the ground reaction force in legged locomotion. They used the leg force modulated complaint hip in a new model for postural control in walking which employs the leg force feedback to adjust the hip compliance.…”

Section: Introductionmentioning

confidence: 99%

Spatial Motion of Multi-Pendula Systems

2017

IJSR

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A multiple chain pendula system constrained to move in space has been studied within the framework of a generalized coordinate system by using the Lagrangian formalism. Equations of motions for many body pendula systems have been derived .These equations concur very well with known data. We confirm that equations of motion for any values of n and l can be generated from our general equation which presents interesting characteristics. Solutions to these multi-pendula equations could be deduced.

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Section: Introductionmentioning

confidence: 99%

Spatial Motion of Multi-Pendula Systems

2017

IJSR

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“…A brief overview of the potential advantages of 49 these lines of thoughts in the literature is presented in the following. 50 Template-based control concept of GRF feedback: In [36], the force 51 modulated hip compliance (FMCH model) was introduced as a template for posture 52 control in which the GRF (ground reaction force) was used to tune the hip joint 53 compliance. This method was later implemented in the LOPES II exoskeleton to assist 54 human walking [37,38].…”

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confidence: 99%

“…Our control approach stems from template-based modeling of posture control in human 101 locomotion. Therefore, first, we describe the VPP (virtual pivot point) concept [50] as a 102 backbone of the FMCH model [36]. Then, we explain how to use the FMCH template 103 model for control of exosuit in the stance phase (when the leg is in contact with the 104 ground).…”

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confidence: 99%

“…In the following, we discuss the outcomes of 570 the simulations and experiments in light of the three above-mentioned contributions. 571 1) underlying control concept: Our FMCH-based control [36,51] of the BAExo 572 has a significant difference to the state-of-the-art methods of controlling assistive 573 devices. Instead of replicating the outputs of the human locomotion control system e.g., 574 joint torques, here we try to discover the underlying control principles for synthesizing 575 locomotor functions.…”

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confidence: 99%

“…Such kind of template-based control is recently employed for 584 bioinspired legged locomotion control [76] and also assistive devices [19]. In that respect, 585 we selected the FMCH model [36], which was developed to explain human balance 586 control based on the VPP concept [50]. By use of biarticular thigh actuators with 587 appropriate lever arms, an extension of the FMCH model for a segmented leg was 588 presented [51].…”

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From a biological template model to gait assistance with an exosuit

Firouzi

Davoodi

Bahrami

et al. 2020

Preprint

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By invention of soft wearable assistive devices, known as exosuits, a new aspect in assisting unimpaired subjects is introduced. In this study, we designed and developed an exosuit with compliant biarticular thigh actuators, called BAExo. Unlike common method of using rigid actuators in exosuits, the BAExo is made of serial elastic actuators (SEA) resembling artificial muscles (AM). This bioinsipred design is complemented by the novel control concept of using the ground reaction force to adjust these AMs' stiffness in the stance phase. By locking the motors in the swing phase the SEAs will be simplified to passive biarticular springs, which is sufficient for leg swinging. The key concept in our design and control approach is synthesizing human locomotion to develop assistive device, instead of copying the outputs of human motor control. Analysing human walking assistance using an experiment-based OpenSim model demonstrates the advantages of the proposed design and control of BAExo, regarding metabolic cost reduction and efficiency of the system. In addition, pilot experiments with the recently developed BAExo hardware support the applicability of the introduced method. Author summaryAging and mobility of elderly people are of crucial concern in developed countries. The U.S. Census Bureau reports that by the middle of the 21st century, about 80 million Americans will be 65 or older. According to the group's research, medical costs resulting from falls by the elderly are expected to approach $32.4 billion by 2020. Therefore, assistance of elderly people and making the assistive devices more intelligent is a need in near future. However, this is not the only application of assistive devices. Exosuits, as soft wearable robots, introduced a new aspect in assisting a large range of population, even healthy young people. We introduce a novel design and control method for a new exosuit. As the research in the field of wearable assistive devices is growing in recent years and its application in daily life becomes more evident for the society, such studies with a unique view in design and control could have a significant impact. Our proposed biologically inspired approach could be potentially applied to other exosuits. Introduction 1 Lower limb exoskeletons for assisting people with decreased locomotion abilities has 2 attracted the attention of researchers [1] and the healthcare industry [2, 3]. Assistive 3 March 21, 2020 1/24 6 about aging. For example, by aging, muscle force and power decrease and to reduce the 7 cost of elderly and patients locomotion, assistive devices are demanded [6, 7]. 8 One of the common goals of assistive device designers is to reduce the metabolic cost 9 of locomotion [8]. This feature is important in all above-mentioned cases and situations. 10 In the last couple of years researchers have succeeded in significantly improving the 11 metabolic cost reduction in human gaits using powered exoskeletons [1,[9][10][11]. 12Powered exoskeletons can be categorized as (1) traditional ones with rigid stru...

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