Human-in-the-Loop Adaptive Control of a Soft Exo-Suit With Actuator Dynamics and Ankle Impedance Adaptation
提出一种人机协同自适应控制方案，用于软体外骨骼服，通过模拟人类中枢神经系统的控制策略，自适应未知的执行器动力学和踝关节阻抗，在五种步行速度下验证了其辅助效果。
Soft exo-suit could facilitate walking assistance activities (such as level walking, upslope, and downslope) for unimpaired individuals. In this article, a novel human-in-the-loop adaptive control scheme is presented for a soft exo-suit, which provides ankle plantarflexion assistance with unknown human-exosuit dynamic model parameters. First, the human-exosuit coupled dynamic model is formulated to express the mathematical relationship between the exo-suit actuation system and the human ankle joint. Then, a gait detection approach, including plantarflexion assistance timing and planning, is proposed. Inspired by the control strategy that is used by the human central nervous system (CNS) to handle interaction tasks, a human-in-the-loop adaptive controller is proposed to adapt the unknown exo-suit actuator dynamics and human ankle impedance. The proposed controller can emulate human CNS behaviors which adapt feedforward force and environment impedance in interaction tasks. The resulting adaptation of actuator dynamics and ankle impedance is demonstrated with five unimpaired subjects and implemented on a developed soft exo-suit. The human-like adaptivity is performed by the exo-suit in several human walking speeds and illustrates the promising potential of the novel controller.