Human-in-the-Loop Trajectory Optimization Based on sEMG Biofeedback for Lower-Limb Exoskeleton

被引:0
|
作者
Li, Ling-Long [1 ]
Zhang, Yue-Peng [2 ]
Cao, Guang-Zhong [1 ]
Li, Wen-Zhou [1 ]
机构
[1] Shenzhen Univ, Coll Mechatron & Control Engn, Guangdong Key Lab Electromagnet Control & Intelli, Shenzhen 518060, Peoples R China
[2] Shenzhen Inst Informat Technol, Shenzhen 518172, Peoples R China
基金
中国国家自然科学基金;
关键词
lower-limb exoskeleton; human-in-the-loop; motion planning; human-machine system; ASSISTANCE;
D O I
10.3390/s24175684
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
Lower-limb exoskeletons (LLEs) can provide rehabilitation training and walking assistance for individuals with lower-limb dysfunction or those in need of functionality enhancement. Adapting and personalizing the LLEs is crucial for them to form an intelligent human-machine system (HMS). However, numerous LLEs lack thorough consideration of individual differences in motion planning, leading to subpar human performance. Prioritizing human physiological response is a critical objective of trajectory optimization for the HMS. This paper proposes a human-in-the-loop (HITL) motion planning method that utilizes surface electromyography signals as biofeedback for the HITL optimization. The proposed method combines offline trajectory optimization with HITL trajectory selection. Based on the derived hybrid dynamical model of the HMS, the offline trajectory is optimized using a direct collocation method, while HITL trajectory selection is based on Thompson sampling. The direct collocation method optimizes various gait trajectories and constructs a gait library according to the energy optimality law, taking into consideration dynamics and walking constraints. Subsequently, an optimal gait trajectory is selected for the wearer using Thompson sampling. The selected gait trajectory is then implemented on the LLE under a hybrid zero dynamics control strategy. Through the HITL optimization and control experiments, the effectiveness and superiority of the proposed method are verified.
引用
收藏
页数:30
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