Human-in-the-Loop Trajectory Optimization Based on sEMG Biofeedback for Lower-Limb Exoskeleton
Abstract
:1. Introduction
2. Hybrid Dynamics Modeling
3. Human-in-the-Loop Motion Planning
3.1. Offline Trajectory Optimization
3.2. HITL Trajectory Optimization
4. Simulation and Experiment
5. Result and Discussion
5.1. Result
5.1.1. Simulation Result
5.1.2. Experimental Result
5.2. Discussion
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
List of Abbreviations
LLE | lower-limb exoskeleton |
HMS | human–machine system |
HITL | human-in-the-loop |
CMA-ES | covariance matrix adaptation evolution strategy |
COM | center of mass |
sEMG | surface electromyography |
DOF | degree of freedom |
HZD | hybrid zero dynamics |
CAN | controller area network |
RMS | root mean square |
GRF | ground reaction forces |
PSO | particle swarm optimization |
Appendix A. Derivation of the Kinematic Model and the Dynamical Model
Nomenclature | Description |
---|---|
li | The length of the i-th link |
lci | The distance from the center of mass of the i-th link to its origin coordinate along |
mi | The mass of the i-th link |
Ii | The rotational inertia of the i-th link with respect to its center of mass |
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Parameter | Definition | Value |
---|---|---|
Maximum anteversion angle | ||
Maximum inclination angle | ||
Protection margin | ||
Ground clearance of swing foot | ||
Single-step duration | ||
Single-step length |
Left Hip Joint | Left Knee Joint | Right Hip Joint | Right Knee Joint | |
---|---|---|---|---|
Overall RMS | 0.9986° | 0.7138° | 0.3380° | 0.4964° |
RMS during stable walking | 0.2046° | 0.3195° | 0.2087° | 0.2716° |
Parameter | Gait 1 | Gait 2 | Gait 3 | Gait 4 |
---|---|---|---|---|
T | 1 s | 1 s | 1.2 s | 1.2 s |
D | 0.2 m | 0.3 m | 0.2 m | 0.3 m |
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Li, L.-L.; Zhang, Y.-P.; Cao, G.-Z.; Li, W.-Z. Human-in-the-Loop Trajectory Optimization Based on sEMG Biofeedback for Lower-Limb Exoskeleton. Sensors 2024, 24, 5684. https://doi.org/10.3390/s24175684
Li L-L, Zhang Y-P, Cao G-Z, Li W-Z. Human-in-the-Loop Trajectory Optimization Based on sEMG Biofeedback for Lower-Limb Exoskeleton. Sensors. 2024; 24(17):5684. https://doi.org/10.3390/s24175684
Chicago/Turabian StyleLi, Ling-Long, Yue-Peng Zhang, Guang-Zhong Cao, and Wen-Zhou Li. 2024. "Human-in-the-Loop Trajectory Optimization Based on sEMG Biofeedback for Lower-Limb Exoskeleton" Sensors 24, no. 17: 5684. https://doi.org/10.3390/s24175684