Skip to main content

Model-Based Optimization for the Design of Exoskeletons that Help Humans to Sustain Large Pushes While Walking

  • Conference paper
  • First Online:
Converging Clinical and Engineering Research on Neurorehabilitation II

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 15))

  • 218 Accesses

Abstract

In order to be useful in daily life, lower limb exoskeletons have to be able to provide support not only for nominal situations, such as level ground walking, but also for the recovery from extreme situations. In this paper, we investigate which torques a lower leg exoskeleton would have to produce in order to allow a person to recover from large perturbations or pushes that may occur while walking. We propose a model-based optimization approach that takes into account dynamic models of the human and the exoskeleton as well as experimental data of humans being pushed. Using optimal control and a least squares objective function we compute the joint torques that exoskeletons of different masses and mass distributions would have to produce in order to make the person follow the recorded recovery trajectories of healthy subjects and which loads would occur in the structure. The results of these computations can serve as guidelines for the design of future lower limb exoskeletons.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or Ebook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 429.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 549.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 549.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. H.K. Kwa, J. Noorden, M. Missel, T. Craig, J. Pratt, P. Neuhaus, Development of the IHMC mobility assist exoskeleton, in IEEE/RAS ICRA (2009)

    Google Scholar 

  2. A. Wall, J. Borg, S. Palmcrantz, Clinical application of the hybrid assistive (HAL) for gait traininga systematic review. Front. Syst. Neurosci. 9, 48 (2015). PMC. Web. 14 Mar 2016

    Google Scholar 

  3. S.A. Kolakowsky-Hayner, J. Crew, S. Moran, A. Shah, Safety and feasibility of using the Ekso bionic exoskeleton to aid ambulation after spinal cord injury. J. Spine S4, 003 (2013)

    Google Scholar 

  4. K.H. Koch, K. Mombaur, ExoOpt a framework for patient cetered design optimization of lower limb exoskelerons, in IEEE ICORR (2015)

    Google Scholar 

  5. M. Schemschat, D. Clever, M.L. Felis, E. Chiovetto, M. Giese, K. Mombaur, Joint torque analysis of push recovery motions during human walking, in IEEE BioRob, Singapore (2016)

    Google Scholar 

  6. M. Schemschat, D. Clever, M.L. Felis, K. Mombaur, Optimal push recovery for periodic walking motions. IFAC PSYCO, Eindhoven (2016)

    Google Scholar 

  7. K.H. Koch, Using model-based optimal control for conceptional motion generation for the humannoid robot HRP-2 14 and design investigations for exo-skeleton, Ph.D. thesis, Heidelberg University (2015)

    Google Scholar 

  8. K. Mombaur, Optimal control for applications in medical and rehabilitation technology—challenges and solutions, in Advances in Mathematical Modeling (Springer, 2016)

    Google Scholar 

  9. The Koroibot project. www.koroibot.eu

  10. KoroiBot Motion Capture Database (2014–2016). https://koroibot-motion-database.humanoids.kit.edu/

  11. C. Mandery, O. Terlemez, M. Do, N. Vahrenkamp, T. Asfour, The KIT whole-body human motion database, in IEEE ICAR 2015 (2015), pp. 329–336

    Google Scholar 

Download references

Acknowledgments

This work is partly funded by the HGS MathComp of Heidelberg University. Furthermore, the research leading to these results has received funding from the EU FP7 program under grant agreement n\(^\circ \) 611909 (KoroiBot) and the H2020 project SPEXOR n\(^\circ \) 687662.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to R. Malin Schemschat .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Schemschat, R.M., Clever, D., Millard, M., Mombaur, K. (2017). Model-Based Optimization for the Design of Exoskeletons that Help Humans to Sustain Large Pushes While Walking. In: Ibáñez, J., González-Vargas, J., Azorín, J., Akay, M., Pons, J. (eds) Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol 15. Springer, Cham. https://doi.org/10.1007/978-3-319-46669-9_134

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-46669-9_134

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-46668-2

  • Online ISBN: 978-3-319-46669-9

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics