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Locomotor Sub-functions for Control of Assistive Wearable Robots

Sharbafi, Maziar A. and Seyfarth, Andre and Zhao, Guoping :
Locomotor Sub-functions for Control of Assistive Wearable Robots.
[Online-Edition]
In: Frontiers in Neurorobotics, 11 ISSN 1662-5218
[Article], (2017)

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Item Type: Article
Title: Locomotor Sub-functions for Control of Assistive Wearable Robots
Language: English
Abstract:

A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locomotion results in a transition from copying nature to borrowing strategies for interacting with the physical world regarding design and control of bio-inspired legged robots or robotic assistive devices. Inspired from nature, legged locomotion can be composed of three locomotor sub-functions, which are intrinsically interrelated: Stance: redirecting the center of mass by exerting forces on the ground. Swing: cycling the legs between ground contacts. Balance: maintaining body posture. With these three sub-functions, one can understand, design and control legged locomotory systems with formulating them in simpler separated tasks. Coordination between locomotor sub-functions in a harmonized manner appears then as an additional problem when considering legged locomotion. However, biological locomotion shows that appropriate design and control of each sub-function simplifies coordination. It means that only limited exchange of sensory information between the different locomotor sub-function controllers is required enabling the envisioned modular architecture of the locomotion control system. In this paper, we present different studies on implementing different locomotor sub-function controllers on models, robots, and an exoskeleton in addition to demonstrating their abilities in explaining humans' control strategies.

Journal or Publication Title: Frontiers in Neurorobotics
Volume: 11
Publisher: Frontiers
Classification DDC: 700 Künste und Unterhaltung > 796 Sport
Divisions: 03 Department Human Sciences > Institut für Sportwissenschaft
Date Deposited: 26 Sep 2017 13:01
Last Modified: 26 Sep 2017 13:01
Official URL: http://journal.frontiersin.org/article/10.3389/fnb...
URN: urn:nbn:de:tuda-tuprints-68284
URI: http://tuprints.ulb.tu-darmstadt.de/id/eprint/6828
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