Cargando…
The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations
Lower-limb exoskeletons often use torque control to manipulate energy flow and ensure human safety. The accuracy of the applied torque greatly affects how well the motion is assisted and therefore improving it is always of interest. Feed-forward iterative learning, which is similar to predictive str...
Autores principales: | , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Frontiers Media S.A.
2021
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8192972/ https://www.ncbi.nlm.nih.gov/pubmed/34122032 http://dx.doi.org/10.3389/fnbot.2021.653409 |
_version_ | 1783706152629960704 |
---|---|
author | Zhang, Juanjuan Collins, Steven H. |
author_facet | Zhang, Juanjuan Collins, Steven H. |
author_sort | Zhang, Juanjuan |
collection | PubMed |
description | Lower-limb exoskeletons often use torque control to manipulate energy flow and ensure human safety. The accuracy of the applied torque greatly affects how well the motion is assisted and therefore improving it is always of interest. Feed-forward iterative learning, which is similar to predictive stride-wise integral control, has proven an effective compensation to feedback control for torque tracking in exoskeletons with complicated dynamics during human walking. Although the intention of iterative learning was initially to benefit average tracking performance over multiple strides, we found that, after proper gain tuning, it can also help improve real-time torque tracking. We used theoretical analysis to predict an optimal iterative-learning gain as the inverse of the passive actuator stiffness. Walking experiments resulted in an optimum gain equal to 0.99 ± 0.38 times the predicted value, confirming our hypothesis. The results of this study provide guidance for the design of torque controllers in robotic legged locomotion systems and will help improve the performance of robots that assist gait. |
format | Online Article Text |
id | pubmed-8192972 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Frontiers Media S.A. |
record_format | MEDLINE/PubMed |
spelling | pubmed-81929722021-06-12 The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations Zhang, Juanjuan Collins, Steven H. Front Neurorobot Neuroscience Lower-limb exoskeletons often use torque control to manipulate energy flow and ensure human safety. The accuracy of the applied torque greatly affects how well the motion is assisted and therefore improving it is always of interest. Feed-forward iterative learning, which is similar to predictive stride-wise integral control, has proven an effective compensation to feedback control for torque tracking in exoskeletons with complicated dynamics during human walking. Although the intention of iterative learning was initially to benefit average tracking performance over multiple strides, we found that, after proper gain tuning, it can also help improve real-time torque tracking. We used theoretical analysis to predict an optimal iterative-learning gain as the inverse of the passive actuator stiffness. Walking experiments resulted in an optimum gain equal to 0.99 ± 0.38 times the predicted value, confirming our hypothesis. The results of this study provide guidance for the design of torque controllers in robotic legged locomotion systems and will help improve the performance of robots that assist gait. Frontiers Media S.A. 2021-05-28 /pmc/articles/PMC8192972/ /pubmed/34122032 http://dx.doi.org/10.3389/fnbot.2021.653409 Text en Copyright © 2021 Zhang and Collins. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
spellingShingle | Neuroscience Zhang, Juanjuan Collins, Steven H. The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations |
title | The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations |
title_full | The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations |
title_fullStr | The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations |
title_full_unstemmed | The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations |
title_short | The Iterative Learning Gain That Optimizes Real-Time Torque Tracking for Ankle Exoskeletons in Human Walking Under Gait Variations |
title_sort | iterative learning gain that optimizes real-time torque tracking for ankle exoskeletons in human walking under gait variations |
topic | Neuroscience |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8192972/ https://www.ncbi.nlm.nih.gov/pubmed/34122032 http://dx.doi.org/10.3389/fnbot.2021.653409 |
work_keys_str_mv | AT zhangjuanjuan theiterativelearninggainthatoptimizesrealtimetorquetrackingforankleexoskeletonsinhumanwalkingundergaitvariations AT collinsstevenh theiterativelearninggainthatoptimizesrealtimetorquetrackingforankleexoskeletonsinhumanwalkingundergaitvariations AT zhangjuanjuan iterativelearninggainthatoptimizesrealtimetorquetrackingforankleexoskeletonsinhumanwalkingundergaitvariations AT collinsstevenh iterativelearninggainthatoptimizesrealtimetorquetrackingforankleexoskeletonsinhumanwalkingundergaitvariations |