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Momentum-based trajectory planning for lower-limb exoskeletons supporting sit-to-stand transitions

International Journal of Intelligent Robotics and Applications volume 2, pages 180–192 (2018)Cite this article

Abstract

The ability to move one’s body from sitting to standing is a crucial ability for independent living. Especially for seniors with decreasing muscular strength, sit-to-stand (STS) transitions are exceptionally risky and often call for assistance. In general, an STS transition is a complex full-body activity that requires the synergistic coordination of the upper and lower limbs and trunk. An exoskeleton can support this multiple degrees-of-freedom problem by controlling the trajectory of the center of mass of the resulting human–robot system. However, while human movement is highly variable, exoskeletons usually only support one of multiple possible solutions. In this paper, we first present an analysis of factors that affect human center of mass trajectory and show that different human movement velocity profiles during STS transitions require different control strategies of the center of mass. Therefore, we propose a model based on horizontal and vertical momentums that enables efficient planning of the center of mass trajectory for any STS transition velocity. Finally, we validate this model by presenting an inverse kinematics solution for the CoM to joint angle problem using a deep Long Short-Term Memory (LSTM) network.

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Funding

Research supported by the University of Cincinnati—Creating Our Third Century—Fund.

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Author notes

  1. Gaurav Patil and Lillian Rigoli contributed to this work equally.

Affiliations

  1. Department of Mechanical and Materials Engineering, University of Cincinnati, Cincinnati, OH, 45221, USA

    Gaurav Patil, Manish Kumar & Tamara Lorenz

  2. Department of Psychology, University of Cincinnati, Cincinnati, OH, 45221, USA

    Lillian Rigoli & Tamara Lorenz

  3. Department of Psychology, Faculty of Human Sciences, Macquarie University, Sydney, Australia

    Michael J. Richardson

  4. Department of Electrical Engineering and Computing Systems, University of Cincinnati, Cincinnati, OH, 45221, USA

    Tamara Lorenz

Authors
  1. Gaurav Patil
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  2. Lillian Rigoli
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  3. Michael J. Richardson
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  4. Manish Kumar
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  5. Tamara Lorenz
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Corresponding authors

Correspondence to Gaurav Patil or Lillian Rigoli.

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Patil, G., Rigoli, L., Richardson, M.J. et al. Momentum-based trajectory planning for lower-limb exoskeletons supporting sit-to-stand transitions. Int J Intell Robot Appl 2, 180–192 (2018). https://doi.org/10.1007/s41315-018-0044-z

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  • DOI: https://doi.org/10.1007/s41315-018-0044-z

Keywords

  • Trajectory planning
  • Exoskeleton
  • Sit-to-stand
  • Assistive devices