Chapter, 2024

Neural Multimodal Control for Versatile Motion Generation and Continuous Transitions of a Lower-Limb Exoskeleton

Synergetic Cooperation between Robots and Humans 978-3-031-47271-8, 978-3-031-47272-5, Pages 311-322

Editors: Mohammad Osman Tokhi; Ebrahim Samer El Youssef; Manuel F. Silva; Leonardo Mejia Rincon

Series: Lecture Notes in Networks and Systems ISSN 2367-3370, 2367-3389, 2367-3370, 2367-3389, Volume 811, Pages 311-322

Publisher: Springer Nature

DOI: 10.1007/978-3-031-47272-5_26

Contributors

Akkawutvanich, Chaicharn 0000-0003-0833-6505 [1] Sricom, Natchaya [1] Manoonpong, Poramate 0000-0002-4806-7576 (Corresponding author) [1] [2]

Affiliations

  1. [1] Vidyasirimedhi Institute of Science and Technology
    2. [NORA names: Thailand; Asia, South];
  2. [2] University of Southern Denmark
    3. [NORA names: SDU University of Southern Denmark; University; Denmark; Europe, EU; Nordic; OECD]

Abstract

The paper proposes a neural multimodal control for versatile motion generation and continuous transitions between activities of a mobile lower-limb exoskeleton. The control method combines neural rhythmic oscillators as central pattern generators (CPGs) for basic rhythmic pattern generation and shaping networks using the radial basis function (RBF) networks to encode different demonstrated patterns e.g., sit-to-stand, climbing up the stairs, and walking on a level floor and a treadmill. Additionally, single recurrent neurons are used as low-pass filters to ensure smoothness. This approach is verified on a real exoskeleton in both static and dynamic situations. The experiment results show successful assistance with frequency adaptation to deal with different movement speeds.

Keywords

activity, adaptation, assistance, basis functions, central pattern generator, continuity, continuous transition, control, control method, dynamic situations, exoskeleton, experiment results, experiments, filter, floor, frequency, frequency adaptation, function, generation, level floor, levels, low-pass filter, lower-limb exoskeleton, method, motion generation, movement, movement speed, multimodal control, network, neurons, oscillations, pattern generator, patterns, patterns e., radial basis function, results, rhythmic oscillations, sit-to-stand, situation, smoothing, speed, stairs, transition, treadmill

Data Provider: Digital Science

LINKS
-

Matching Records in NORA

SUBJECTS
+

METRICS
+