Fully autonomous hip exoskeleton saves metabolic cost of walking

Seo, Keehong; Lee, Jusuk; Lee, Younbaek; Ha, Tae‐Youl; Shim, Youngbo

doi:10.1109/icra.2016.7487663

Cited by 133 publications

(91 citation statements)

References 15 publications

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“…Recent work with hip and ankle exoskeletons has focused on the goal of reducing the metabolic cost of walking, and researchers have succeeded in a number of experiments (Ronsse et al, 2011; Mooney et al, 2014; Ding et al, 2016a,b; Ruiz Garate et al, 2016; Seo et al, 2016). Research groups have used both rigid exoskeletons (Ruiz Garate et al, 2016), as we use in our experiment, and soft exoskeletons to test the effect of different hip assistance strategies on metabolic output (Ding et al, 2016a; Panizzolo et al, 2016).…”

Section: Introductionmentioning

confidence: 99%

Influence of Power Delivery Timing on the Energetics and Biomechanics of Humans Wearing a Hip Exoskeleton

Young

Foss

Gannon

et al. 2017

Front. Bioeng. Biotechnol.

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A broad goal in the field of powered lower limb exoskeletons is to reduce the metabolic cost of walking. Ankle exoskeletons have successfully achieved this goal by correctly timing a plantarflexor torque during late stance phase. Hip exoskeletons have the potential to assist with both flexion and extension during walking gait, but the optimal timing for maximally reducing metabolic cost is unknown. The focus of our study was to determine the best assistance timing for applying hip assistance through a pneumatic exoskeleton on human subjects. Ten non-impaired subjects walked with a powered hip exoskeleton, and both hip flexion and extension assistance were separately provided at different actuation timings using a simple burst controller. The largest average across-subject reduction in metabolic cost for hip extension was at 90% of the gait cycle (just prior to heel contact) and for hip flexion was at 50% of the gait cycle; this resulted in an 8.4 and 6.1% metabolic reduction, respectively, compared to walking with the unpowered exoskeleton. However, the ideal timing for both flexion and extension assistance varied across subjects. When selecting the assistance timing that maximally reduced metabolic cost for each subject, average metabolic cost for hip extension was 10.3% lower and hip flexion was 9.7% lower than the unpowered condition. When taking into account user preference, we found that subject preference did not correlate with metabolic cost. This indicated that user feedback was a poor method of determining the most metabolically efficient assistance power timing. The findings of this study are relevant to developers of exoskeletons that have a powered hip component to assist during human walking gait.

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Section: Introductionmentioning

confidence: 99%

Influence of Power Delivery Timing on the Energetics and Biomechanics of Humans Wearing a Hip Exoskeleton

Young

Foss

Gannon

et al. 2017

Front. Bioeng. Biotechnol.

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show abstract

“…Our template based approach avoids the model complexity which is a common drawback of such approaches [12]. It is the first implementation of such a novel method on a single (hip) joint actuated exoskeleton demonstrated beneficial outcomes regarding reducing metabolic costs and muscle activities compared to similar studies (only with hip joint assistance) on exoskeletons [35], [36], [58] or exosuits [56], [59].…”

Section: Fmch Based Controller Has Higher Consistency In Emg Respomentioning

confidence: 96%

Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking

Zhao

Sharbafi

Vlutters

et al. 2019

IEEE Trans. Neural Syst. Rehabil. Eng.

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The amount of research on developing exoskeletons for human gait assistance has been growing in the recent years. However, the control design of exoskeletons for assisting human walking remains unclear. This paper presents a novel bio-inspired reflex-based control for assisting human walking. In this approach, the leg force is used as a feedback signal to adjust hip compliance. The effects of modulating hip compliance on walking gait is investigated through joint kinematics, leg muscle activations and overall metabolic costs for eight healthy young subjects. Reduction in the average metabolic cost and muscle activation are achieved with fixed hip compliance. Compared to the fixed hip compliance, improved assistance as reflected in more consistent reduction in muscle activities and more natural kinematic behaviour are obtained using the leg force feedback. Furthermore, smoother motor torques and less peak power are two additional advantages obtained by compliance modulation. The results show that the proposed control method which is inspired by human posture control can not only facilitate the human gait, but also reduce the exoskeleton power consumption. This demonstrates that the proposed bio-inspired controller allows a synergistic interaction between human and robot. Index Terms-Virtual pivot point, force modulated compliant hip, exoskeleton, bio-inspired control, human gait, assistive device.

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“…A phase portrait based on oscillating terms is employed to determine the direction of the torque and to adjust the assistive frequency of the exoskeleton, adding positive power to the human-machine coupling. Seo et al [140] have developed an assistive torque control strategy based on a particularly shaped adaptive oscillator (PSAO) for hip exoskeletons. The PSAO is an AFO variant that can be used to track the gait phase too.…”

Section: Gait Feature Estimation-based Torque Assistancementioning

confidence: 99%

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

Ma¹,

Wang²,

Yi³

et al. 2019

International Journal of Robotics and Automation

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The study of lower extremity exoskeleton robots has been pursued for many years and is now receiving significant attention. A number of review articles have focused on describing the mechanical design of exoskeleton robots, their control methods, human-exoskeleton robot interfaces, and so on. None, however, have focused on the coordination of control between humans and these kinds of robots. In this paper, we examine the research regarding human-exoskeleton robot coordinated control to capture the current state-of-the-art. One hundred and fifty six relevant articles were collected and screened from the Web of science, and classified into six categories, based on human neurobiology and exoskeleton robots' assistive effects. These categories were further subdivided according to their perspective on human-exoskeleton robots coordinated control. The paper extensively reviews various control methods we uncovered and how they are coordinated between wearer and exoskeleton robot.

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Fully autonomous hip exoskeleton saves metabolic cost of walking

Cited by 133 publications

References 15 publications

Influence of Power Delivery Timing on the Energetics and Biomechanics of Humans Wearing a Hip Exoskeleton

Influence of Power Delivery Timing on the Energetics and Biomechanics of Humans Wearing a Hip Exoskeleton

Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking

A Review on Human–exoskeleton Coordination Towards Lower Limb Robotic Exoskeleton Systems

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