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Towards Variable Assistance for Lower Body Exoskeletons

Gurriet, Thomas and Tucker, Maegan and Duburcq, Alexis and Boeris, Guilhem and Ames, Aaron D. (2020) Towards Variable Assistance for Lower Body Exoskeletons. IEEE Robotics and Automation Letters, 5 (1). pp. 266-273. ISSN 2377-3766. https://resolver.caltech.edu/CaltechAUTHORS:20191204-133217340

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Abstract

This letter presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gait, instead of rigidly following it, accelerates the spinal learning process of people with a walking impediment when using a lower body exoskeleton. With this as motivation, we present a method to accurately control how much a subject is allowed to deviate from a given gait while ensuring robustness to patient perturbation. This method leverages control barrier functions to force certain joints to remain inside predefined trajectory tubes in a minimally invasive way. The effectiveness of the method is demonstrated experimentally with able-bodied subjects and the Atalante lower body exoskeleton.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/lra.2019.2955946DOIArticle
https://arxiv.org/abs/1909.11188arXivDiscussion Paper
ORCID:
AuthorORCID
Gurriet, Thomas0000-0002-5240-3720
Tucker, Maegan0000-0001-7363-6809
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 IEEE. Manuscript received: 09, 11, 2019; Accepted 11, 06, 2019. Manuscript received September 10, 2019; accepted November 5, 2019. Date of publication November 26, 2019; date of current version December 11, 2019. This work was supported in part by the National Science Foundation, National Robotics Initiative under Award 1724464, in part by the Caltech Big Ideas and ZEITLIN Funds, and in part by the Wandercraft. The authors would like to thank the participants that took part in the presented experiments. The authors would also like to thank the entireWandercraft team that designed Atalante and continues to provide technical support for this project. Thiswork was conducted under IRB No. 16-0693.
Funders:
Funding AgencyGrant Number
NSFIIS-1724464
CaltechUNSPECIFIED
WandercraftUNSPECIFIED
Subject Keywords:Prosthetics and exoskeletons, physically assistive devices, control architectures and programming
Issue or Number:1
Record Number:CaltechAUTHORS:20191204-133217340
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191204-133217340
Official Citation:T. Gurriet, M. Tucker, A. Duburcq, G. Boeris and A. D. Ames, "Towards Variable Assistance for Lower Body Exoskeletons," in IEEE Robotics and Automation Letters, vol. 5, no. 1, pp. 266-273, Jan. 2020. doi: 10.1109/LRA.2019.2955946
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:100184
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:04 Dec 2019 21:44
Last Modified:09 Jan 2020 00:20

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