Underactuated Potential Energy Shaping with Contact Constraints: Application to a Powered Knee-Ankle Orthosis

Overview

Journal IEEE Trans Control Syst Technol

Date 2018 Feb 6

PMID 29398885

Citations 14

Authors

Ge Lv

Robert D Gregg

Affiliations

Soon will be listed here.

Abstract

Body-weight support (i.e., gravity compensation) is an effective clinical tool for gait rehabilitation after neurological impairment. Body-weight supported training systems have been developed to help patients regain mobility and confidence during walking, but conventional systems constrain the patient's treatment in clinical environments. We propose that this challenge could be addressed by virtually providing patients with bodyweight support through the actuators of a powered orthosis (or exoskeleton) utilizing potential energy shaping control. However, the changing contact conditions and degrees of underactuation encountered during human walking present significant challenges to consistently matching a desired potential energy for the human in closed loop. We therefore derive a generalized matching condition for shaping Lagrangian systems with holonomic contact constraints. By satisfying this matching condition for four phases of gait, we derive passivity-based control laws to achieve virtual body-weight support through a powered knee-ankle orthosis. We demonstrate beneficial effects of virtual body-weight support in simulations of a human-like biped model, indicating the potential clinical value of this proposed control approach.

Citing Articles

Coordinated human-exoskeleton locomotion emerges from regulating virtual energy.

Nasiri R, Dinovitzer H, Manohara N, Arami A PLoS One. 2025; 20(1):e0292334.

PMID: 39841647 PMC: 11753675. DOI: 10.1371/journal.pone.0292334.

A Modular Framework for Task-Agnostic, Energy Shaping Control of Lower Limb Exoskeletons.

Lin J, Thomas G, Divekar N, Peddinti V, Gregg R IEEE Trans Control Syst Technol. 2024; 32(6):2359-2375.

PMID: 39474032 PMC: 11513588. DOI: 10.1109/tcst.2024.3429908.

Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization.

Manzoori A, Malatesta D, Primavesi J, Ijspeert A, Bouri M Front Bioeng Biotechnol. 2024; 12:1324587.

PMID: 38532879 PMC: 10963600. DOI: 10.3389/fbioe.2024.1324587.

Optimal Energy Shaping Control for a Backdrivable Hip Exoskeleton.

Zhang J, Lin J, Peddinti V, Gregg R Proc Am Control Conf. 2023; 2023:2065-2070.

PMID: 37790804 PMC: 10544752. DOI: 10.23919/acc55779.2023.10155839.

Lower limb exoskeleton robot and its cooperative control: A review, trends, and challenges for future research.

Masengo G, Zhang X, Dong R, Alhassan A, Hamza K, Mudaheranwa E Front Neurorobot. 2023; 16:913748.

PMID: 36714152 PMC: 9875327. DOI: 10.3389/fnbot.2022.913748.

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