A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System
The lower limb exoskeleton is playing an increasing role in enabling individuals with spinal cord injury (SCI) to stand upright, walk, turn, and so on. Hence, it is essential to maintain the balance of the human-exoskeleton system during movements. However, the balance of the human-exoskeleton syste...
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Frontiers Media S.A.
2021
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oai:doaj.org-article:74faa44b00a946859721131037985ffb2021-12-01T02:23:12ZA Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System1662-521810.3389/fnbot.2021.751642https://doaj.org/article/74faa44b00a946859721131037985ffb2021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/fnbot.2021.751642/fullhttps://doaj.org/toc/1662-5218The lower limb exoskeleton is playing an increasing role in enabling individuals with spinal cord injury (SCI) to stand upright, walk, turn, and so on. Hence, it is essential to maintain the balance of the human-exoskeleton system during movements. However, the balance of the human-exoskeleton system is challenging to maintain. There are no effective balance control strategies because most of them can only be used in a specific movement like walking or standing. Hence, the primary aim of the current study is to propose a balance control strategy to improve the balance of the human-exoskeleton system in dynamic movements. This study proposes a new safety index named Enhanced Stability Pyramid Index (ESPI), and a new balance control strategy is based on the ESPI and the Dynamic Movement Primitives (DMPs). To incorporate dynamic information of the system, the ESPI employs eXtrapolated Center of Mass (XCoM) instead of the center of mass (CoM). Meanwhile, Time-to-Contact (TTC), the urgency of safety, is used as an automatic weight assignment factor of ESPI instead of the traditional manual one. Then, the balance control strategy utilizing DMPs to generate the gait trajectory according to the scalar and vector values of the ESPI is proposed. Finally, the walking simulation in Gazebo and the experiments of the human-exoskeleton system verify the effectiveness of the index and balance control strategy.Fashu XuFashu XuFashu XuJing QiuJing QiuJing QiuJing QiuWenbo YuanWenbo YuanWenbo YuanHong ChengHong ChengHong ChengFrontiers Media S.A.articlehuman-exoskeletonenhanced stability pyramiddynamic movement primitivessafetygait planningXCoMNeurosciences. Biological psychiatry. NeuropsychiatryRC321-571ENFrontiers in Neurorobotics, Vol 15 (2021) |
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| collection |
DOAJ |
| language |
EN |
| topic |
human-exoskeleton enhanced stability pyramid dynamic movement primitives safety gait planning XCoM Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571 |
| spellingShingle |
human-exoskeleton enhanced stability pyramid dynamic movement primitives safety gait planning XCoM Neurosciences. Biological psychiatry. Neuropsychiatry RC321-571 Fashu Xu Fashu Xu Fashu Xu Jing Qiu Jing Qiu Jing Qiu Jing Qiu Wenbo Yuan Wenbo Yuan Wenbo Yuan Hong Cheng Hong Cheng Hong Cheng A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System |
| description |
The lower limb exoskeleton is playing an increasing role in enabling individuals with spinal cord injury (SCI) to stand upright, walk, turn, and so on. Hence, it is essential to maintain the balance of the human-exoskeleton system during movements. However, the balance of the human-exoskeleton system is challenging to maintain. There are no effective balance control strategies because most of them can only be used in a specific movement like walking or standing. Hence, the primary aim of the current study is to propose a balance control strategy to improve the balance of the human-exoskeleton system in dynamic movements. This study proposes a new safety index named Enhanced Stability Pyramid Index (ESPI), and a new balance control strategy is based on the ESPI and the Dynamic Movement Primitives (DMPs). To incorporate dynamic information of the system, the ESPI employs eXtrapolated Center of Mass (XCoM) instead of the center of mass (CoM). Meanwhile, Time-to-Contact (TTC), the urgency of safety, is used as an automatic weight assignment factor of ESPI instead of the traditional manual one. Then, the balance control strategy utilizing DMPs to generate the gait trajectory according to the scalar and vector values of the ESPI is proposed. Finally, the walking simulation in Gazebo and the experiments of the human-exoskeleton system verify the effectiveness of the index and balance control strategy. |
| format |
article |
| author |
Fashu Xu Fashu Xu Fashu Xu Jing Qiu Jing Qiu Jing Qiu Jing Qiu Wenbo Yuan Wenbo Yuan Wenbo Yuan Hong Cheng Hong Cheng Hong Cheng |
| author_facet |
Fashu Xu Fashu Xu Fashu Xu Jing Qiu Jing Qiu Jing Qiu Jing Qiu Wenbo Yuan Wenbo Yuan Wenbo Yuan Hong Cheng Hong Cheng Hong Cheng |
| author_sort |
Fashu Xu |
| title |
A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System |
| title_short |
A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System |
| title_full |
A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System |
| title_fullStr |
A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System |
| title_full_unstemmed |
A Novel Balance Control Strategy Based on Enhanced Stability Pyramid Index and Dynamic Movement Primitives for a Lower Limb Human-Exoskeleton System |
| title_sort |
novel balance control strategy based on enhanced stability pyramid index and dynamic movement primitives for a lower limb human-exoskeleton system |
| publisher |
Frontiers Media S.A. |
| publishDate |
2021 |
| url |
https://doaj.org/article/74faa44b00a946859721131037985ffb |
| work_keys_str_mv |
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