Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion
This paper proposes an assist-as-needed (AAN) controller for power-assist of a knee joint that takes into account differences in human and orthotic motion. The AAN control is one control method that adjusts the assist performance according to the wearer’s ability. AAN controllers are often designed...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2024-12-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/91/941/91_24-00194/_pdf/-char/en |
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| _version_ | 1832584931669180416 |
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| author | Ken MASUYA Yuta IDE Masafumi OKADA |
| author_facet | Ken MASUYA Yuta IDE Masafumi OKADA |
| author_sort | Ken MASUYA |
| collection | DOAJ |
| description | This paper proposes an assist-as-needed (AAN) controller for power-assist of a knee joint that takes into account differences in human and orthotic motion. The AAN control is one control method that adjusts the assist performance according to the wearer’s ability. AAN controllers are often designed to be time-independent so that the wearer can act whenever he/she wants. However, the speed of human motion changes frequently, nevertheless, most previous works did not actively change the desired speed of the orthotic motion. This paper tackles this issue, and we propose a region attractor that changes the speed of the reference motion based on the internal force acting on the lower limb attachment point. In addition, to reduce pain at the attachment point caused by a misalignment between the wearer and the orthosis, the center of rotation (CoR) of the knee is estimated in real-time. Using the estimated CoR, the motor torque that satisfies the desired knee torque is generated while minimizing the internal force in the direction that does not contribute to assist. Through experiments using a dummy robot of the human knee with various torque limits, the effectiveness of the proposed method was verified. |
| format | Article |
| id | doaj-art-6f83ac01f6d44723a4b52a2b6f8061bf |
| institution | Kabale University |
| issn | 2187-9761 |
| language | Japanese |
| publishDate | 2024-12-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj-art-6f83ac01f6d44723a4b52a2b6f8061bf2025-01-27T08:34:35ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612024-12-019194124-0019424-0019410.1299/transjsme.24-00194transjsmeAssist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motionKen MASUYA0Yuta IDE1Masafumi OKADA2Faculty of Engineering, University of MiyazakiDepartment of Mechanical Engineering, Tokyo Institute of TechnologyDepartment of Mechanical Engineering, Tokyo Institute of TechnologyThis paper proposes an assist-as-needed (AAN) controller for power-assist of a knee joint that takes into account differences in human and orthotic motion. The AAN control is one control method that adjusts the assist performance according to the wearer’s ability. AAN controllers are often designed to be time-independent so that the wearer can act whenever he/she wants. However, the speed of human motion changes frequently, nevertheless, most previous works did not actively change the desired speed of the orthotic motion. This paper tackles this issue, and we propose a region attractor that changes the speed of the reference motion based on the internal force acting on the lower limb attachment point. In addition, to reduce pain at the attachment point caused by a misalignment between the wearer and the orthosis, the center of rotation (CoR) of the knee is estimated in real-time. Using the estimated CoR, the motor torque that satisfies the desired knee torque is generated while minimizing the internal force in the direction that does not contribute to assist. Through experiments using a dummy robot of the human knee with various torque limits, the effectiveness of the proposed method was verified.https://www.jstage.jst.go.jp/article/transjsme/91/941/91_24-00194/_pdf/-char/enassist-as-needed controlpower assistknee orthosisregion attractorforce controlcenter of rotation estimation |
| spellingShingle | Ken MASUYA Yuta IDE Masafumi OKADA Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion Nihon Kikai Gakkai ronbunshu assist-as-needed control power assist knee orthosis region attractor force control center of rotation estimation |
| title | Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion |
| title_full | Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion |
| title_fullStr | Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion |
| title_full_unstemmed | Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion |
| title_short | Assist-as-needed control based on region attractor for power-assist of knee joint taking into account differences in human and orthotic motion |
| title_sort | assist as needed control based on region attractor for power assist of knee joint taking into account differences in human and orthotic motion |
| topic | assist-as-needed control power assist knee orthosis region attractor force control center of rotation estimation |
| url | https://www.jstage.jst.go.jp/article/transjsme/91/941/91_24-00194/_pdf/-char/en |
| work_keys_str_mv | AT kenmasuya assistasneededcontrolbasedonregionattractorforpowerassistofkneejointtakingintoaccountdifferencesinhumanandorthoticmotion AT yutaide assistasneededcontrolbasedonregionattractorforpowerassistofkneejointtakingintoaccountdifferencesinhumanandorthoticmotion AT masafumiokada assistasneededcontrolbasedonregionattractorforpowerassistofkneejointtakingintoaccountdifferencesinhumanandorthoticmotion |