Human model in the loop design optimization for RoboWalk wearable device

Nabipour, Mahdi; Moosavian, S. Ali A.

doi:10.1007/s12206-021-0935-z

Cited by 9 publications

(4 citation statements)

References 25 publications

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“…They are mainly applied to patients who do not have control over their limbs and who are not able to oppose the movement (Choi et al, 2018;Weerasingha et al, 2018;Huo et al, 2019;Lee et al, 2021). To alleviate this strict position tracking, some researchers used impedance control to allow some deviation from predefined trajectories (Lee et al, 2021) or by using lowtransmission brushless DC motors, which have low backdrivability, allowing users to have safer interaction with the AAFO (de Miguel-Fernandez et al, 2022a;de Miguel-Fernandez et al, 2022b;Nabipour and Moosavian, 2021).…”

Section: Design-related Advantages and Disadvantagesmentioning

confidence: 99%

Advances on mechanical designs for assistive ankle-foot orthoses

Lora-Millán

Nabipour

Asseldonk

et al. 2023

Front. Bioeng. Biotechnol.

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Assistive ankle-foot orthoses (AAFOs) are powerful solutions to assist or rehabilitate gait on humans. Existing AAFO technologies include passive, quasi-passive, and active principles to provide assistance to the users, and their mechanical configuration and control depend on the eventual support they aim for within the gait pattern. In this research we analyze the state-of-the-art of AAFO and classify the different approaches into clusters, describing their basis and working principles. Additionally, we reviewed the purpose and experimental validation of the devices, providing the reader with a better view of the technology readiness level. Finally, the reviewed designs, limitations, and future steps in the field are summarized and discussed.

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Section: Design-related Advantages and Disadvantagesmentioning

confidence: 99%

Advances on mechanical designs for assistive ankle-foot orthoses

Lora-Millán

Nabipour

Asseldonk

et al. 2023

Front. Bioeng. Biotechnol.

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“…Adding damping to the Hill-type MTU model does stabilize the contraction dynamics when 𝑎(𝑡) ≅ 0 but makes finding an analytical solution for 𝐿 Ṁ more complicated. In order to overcome this problem, one solution is to use regression to find a curve function for the 𝐿 Ṁto replace in (2). Inspired by the fitted curve obtained by [16] and the way the damping is incorporated into CEINMS functions, the following function was chosen for muscle fiber velocity:…”

Section: ) Regressionmentioning

confidence: 99%

“…In this context, human-in-the-loop (HIL) optimization techniques were proposed that identified lower extremity joint torque profiles for active exoskeletons to minimize a person's metabolic energy consumption during gait [1]. HIL's working principle relies on controllers altering assistive torque parameters until metabolic energy consumption is minimized [2]. This process is timeconsuming and requires several minutes for the state-of-the art approaches to converge to optimal torque profile [3].…”

Section: Introductionmentioning

confidence: 99%

Predictive Control of Peak Achilles Tendon Force in a Simulated System of the Human Ankle Joint with a Parallel Artificial Actuator During Hopping

Nabipour,

Sawicki,

Sartori

2023

2023 International Conference on Rehabilitation Robotics (ICORR)

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Latest advances in wearable exoskeletons for the human lower extremity predominantly focus on minimising metabolic cost of walking. However, there currently is no robotic exoskeleton that gains control on the mechanics of biological tissues such as biological muscles or series-elastic tendons. Achieving robotic control of biological tissue mechanics would enable prevention of musculoskeletal injuries or the personalization of rehabilitation treatments following injury with levels of precisions not attained before. In this paper, we introduce a new framework that uses nonlinear model predictive control (NMPC) for the closed-loop control of peak tendon force in a simulated system of the human ankle joint with parallel exoskeletal actuation. We propose a computationally efficient NMPC's inner model consisting of explicit, closed-form equations of muscle-tendon dynamics along with those of the ankle joint with parallel actuation. The proposed formulation is tested and verified on movement data collected during dynamic ankle dorsiflexion/plantarflexion rotations executed on a dynamometer as well as during walking and running on a treadmill. The framework designed using the NMPC controller showed a promising performance in keeping the Achilles tendon force under a predefined threshold. Results indicated that our proposed model was generalizable to different muscles and gaits and suitable for real-time applications due to its low computational time.

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“…In [7] is presented the optimization of the installation position of the hydraulic cylinder for wearable medical robotics meeting the requirements of normal human movement. Also, [8] presents the optimal design parameters for a lower-limb assistance device for walking obtaining to minimize the load on human articulations. Another example is [9], which optimizes the mechanical parameters of a wearable robotic limb for hemiplegia rehabilitation, meeting the requirement to be used for humans.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Optimization of 6DOF Serial Robot Arms by Bio-Inspired Algorithms

Galan-Uribe¹,

Morales-Velazquez²

2022

IEEE Access

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Robotic systems are essential to technological development in the industrial, medical, and aerospace sectors. Nevertheless, their use in different applications requires that the robot have the best possible execution efficiency. For this, a robot with specific optimized characteristics is necessary to impact the performance of the specific task. Different techniques have been used in robot optimization, the most widely used being genetic algorithms (GA) and particle swarm optimization (PSO). However, there are optimization algorithms with high convergence speeds inspired by animal behavior, whose application in robot optimization has not been reported. In this work, bio-inspired algorithms Harris hawks optimization (HHO) and Grey wolf optimizer (GWO) are applied to a six-degree-of-freedom (6DOF) robot arm design through kinematic optimization. The lengths of the main robot links are optimized to improve the workspace volume and obtain a better-conditioned robot using the structural length index (SLI) and global condition index (GCI) as objective functions. A comparison is made between the proposed algorithms and GA and PSO regarding convergence speed, computational load, and optimality. Similar behavior has been found for HHO, GWO, and PSO compared to GA for both indexes. For the GCI problem, an average improvement of 14% was found when optimizing an industrial robot arm. Furthermore, multiple runs experiment is performed to test the robustness of the algorithms. The results show that HHO is the best technique to obtain an optimal robot design because it needs less than ten iterations to provide a better result despite its computational load.INDEX TERMS Evolutionary computation, genetic algorithms, grey wolf optimizer, harris hawk optimizer, particle swarm optimization, robot kinematics.

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Human model in the loop design optimization for RoboWalk wearable device

Cited by 9 publications

References 25 publications

Advances on mechanical designs for assistive ankle-foot orthoses

Advances on mechanical designs for assistive ankle-foot orthoses

Predictive Control of Peak Achilles Tendon Force in a Simulated System of the Human Ankle Joint with a Parallel Artificial Actuator During Hopping

Kinematic Optimization of 6DOF Serial Robot Arms by Bio-Inspired Algorithms

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