TU Darmstadt / ULB / TUprints

Locomotor Sub-functions for Control of Assistive Wearable Robots

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

Copyright Information: CC BY 4.0 International - Creative Commons, Attribution.

Download (2MB) | Preview
Item Type: Article
Origin: Secondary publication via sponsored Golden Open Access
Title: Locomotor Sub-functions for Control of Assistive Wearable Robots
Language: English

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 of the journal: 11
Place of Publication: Darmstadt
Publisher: Frontiers
Classification DDC: 700 Künste und Unterhaltung > 796 Sport
Divisions: 03 Department of Human Sciences > Institut für Sportwissenschaft
Date Deposited: 26 Sep 2017 13:01
Last Modified: 13 Dec 2022 10:29
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-68284
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/6828
Actions (login required)
View Item View Item