Cargando…

Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person

Lower-limb exoskeletons are a promising option to increase the mobility of persons with leg impairments in a near future. However, it is still challenging for them to ensure the necessary stability and agility to face obstacles, particularly the variety that makes the urban environment. That is why...

Descripción completa

Detalles Bibliográficos
Autores principales: Huynh, Vaiyee, Burger, Guillaume, Dang, Quoc Viet, Pelgé, Raphaël, Boéris, Guilhem, Grizzle, Jessy W., Ames, Aaron D., Masselin, Matthieu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8498038/
https://www.ncbi.nlm.nih.gov/pubmed/34631804
http://dx.doi.org/10.3389/frobt.2021.723780
_version_ 1784580095807062016
author Huynh, Vaiyee
Burger, Guillaume
Dang, Quoc Viet
Pelgé, Raphaël
Boéris, Guilhem
Grizzle, Jessy W.
Ames, Aaron D.
Masselin, Matthieu
author_facet Huynh, Vaiyee
Burger, Guillaume
Dang, Quoc Viet
Pelgé, Raphaël
Boéris, Guilhem
Grizzle, Jessy W.
Ames, Aaron D.
Masselin, Matthieu
author_sort Huynh, Vaiyee
collection PubMed
description Lower-limb exoskeletons are a promising option to increase the mobility of persons with leg impairments in a near future. However, it is still challenging for them to ensure the necessary stability and agility to face obstacles, particularly the variety that makes the urban environment. That is why most of the lower-limb exoskeletons must be used with crutches: the stability and agility features are deferred to the patient. Clinical experience shows that the use of crutches not only leads to shoulder pain and exhaustion, but also fully occupies the hands for daily tasks. In November 2020, Wandercraft presented Atalante Evolution, the first self-stabilized and crutch-less exoskeleton, to the powered exoskeleton race of the Cybathlon 2020 Global Edition. The Cybathlon aims at promoting research and development in the field of powered assistive technology to the public, contrary to the Paralympics where only participants with unpowered assistive technology are allowed. The race is designed to represent the challenges that a person could face every day in their environment: climbing stairs, walking through rough terrain, or descending ramps. Atalante Evolution is a 12 degree-of-freedom exoskeleton capable of moving dynamically with a complete paraplegic person. The challenge of this competition is to generate and execute new dynamic motions in a short time, to achieve different tasks. In this paper, an overview of Atalante Evolution system and of our framework for dynamic trajectory generation based on the direct collocation method will be presented. Next, the flexibility and efficiency of the dynamic motion generation framework are demonstrated by our tools developed for generating the important variety of stable motions required by the competition. A smartphone application has been developed to allow the pilot to choose between different modes and to control the motion direction according to the real situation to reach a destination. The advanced mechatronic design and the active cooperation of the pilot with the device will also be highlighted. As a result, Atalante Evolution allowed the pilot to complete four out of six obstacles, without crutches. Our developments lead to stable dynamic movements of the exoskeleton, hands-free walking, more natural stand-up and turning moves, and consequently a better physical condition of the pilot after the race compared to the challengers. The versatility and good results of these developments give hope that exoskeletons will soon be able to evolve in challenging everyday-life environments, allowing patients to live a normal life in complete autonomy.
format Online
Article
Text
id pubmed-8498038
institution National Center for Biotechnology Information
language English
publishDate 2021
publisher Frontiers Media S.A.
record_format MEDLINE/PubMed
spelling pubmed-84980382021-10-09 Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person Huynh, Vaiyee Burger, Guillaume Dang, Quoc Viet Pelgé, Raphaël Boéris, Guilhem Grizzle, Jessy W. Ames, Aaron D. Masselin, Matthieu Front Robot AI Robotics and AI Lower-limb exoskeletons are a promising option to increase the mobility of persons with leg impairments in a near future. However, it is still challenging for them to ensure the necessary stability and agility to face obstacles, particularly the variety that makes the urban environment. That is why most of the lower-limb exoskeletons must be used with crutches: the stability and agility features are deferred to the patient. Clinical experience shows that the use of crutches not only leads to shoulder pain and exhaustion, but also fully occupies the hands for daily tasks. In November 2020, Wandercraft presented Atalante Evolution, the first self-stabilized and crutch-less exoskeleton, to the powered exoskeleton race of the Cybathlon 2020 Global Edition. The Cybathlon aims at promoting research and development in the field of powered assistive technology to the public, contrary to the Paralympics where only participants with unpowered assistive technology are allowed. The race is designed to represent the challenges that a person could face every day in their environment: climbing stairs, walking through rough terrain, or descending ramps. Atalante Evolution is a 12 degree-of-freedom exoskeleton capable of moving dynamically with a complete paraplegic person. The challenge of this competition is to generate and execute new dynamic motions in a short time, to achieve different tasks. In this paper, an overview of Atalante Evolution system and of our framework for dynamic trajectory generation based on the direct collocation method will be presented. Next, the flexibility and efficiency of the dynamic motion generation framework are demonstrated by our tools developed for generating the important variety of stable motions required by the competition. A smartphone application has been developed to allow the pilot to choose between different modes and to control the motion direction according to the real situation to reach a destination. The advanced mechatronic design and the active cooperation of the pilot with the device will also be highlighted. As a result, Atalante Evolution allowed the pilot to complete four out of six obstacles, without crutches. Our developments lead to stable dynamic movements of the exoskeleton, hands-free walking, more natural stand-up and turning moves, and consequently a better physical condition of the pilot after the race compared to the challengers. The versatility and good results of these developments give hope that exoskeletons will soon be able to evolve in challenging everyday-life environments, allowing patients to live a normal life in complete autonomy. Frontiers Media S.A. 2021-09-24 /pmc/articles/PMC8498038/ /pubmed/34631804 http://dx.doi.org/10.3389/frobt.2021.723780 Text en Copyright © 2021 Huynh, Burger, Dang, Pelgé, Boéris, Grizzle, Ames and Masselin. 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 Robotics and AI
Huynh, Vaiyee
Burger, Guillaume
Dang, Quoc Viet
Pelgé, Raphaël
Boéris, Guilhem
Grizzle, Jessy W.
Ames, Aaron D.
Masselin, Matthieu
Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person
title Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person
title_full Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person
title_fullStr Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person
title_full_unstemmed Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person
title_short Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person
title_sort versatile dynamic motion generation framework: demonstration with a crutch-less exoskeleton on real-life obstacles at the cybathlon 2020 with a complete paraplegic person
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8498038/
https://www.ncbi.nlm.nih.gov/pubmed/34631804
http://dx.doi.org/10.3389/frobt.2021.723780
work_keys_str_mv AT huynhvaiyee versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson
AT burgerguillaume versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson
AT dangquocviet versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson
AT pelgeraphael versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson
AT boerisguilhem versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson
AT grizzlejessyw versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson
AT amesaarond versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson
AT masselinmatthieu versatiledynamicmotiongenerationframeworkdemonstrationwithacrutchlessexoskeletononreallifeobstaclesatthecybathlon2020withacompleteparaplegicperson