WO2008097336A2 - Controller for an assistive exoskeleton based on active impedance - Google Patents

Controller for an assistive exoskeleton based on active impedance Download PDF

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Publication number
WO2008097336A2
WO2008097336A2 PCT/US2007/073093 US2007073093W WO2008097336A2 WO 2008097336 A2 WO2008097336 A2 WO 2008097336A2 US 2007073093 W US2007073093 W US 2007073093W WO 2008097336 A2 WO2008097336 A2 WO 2008097336A2
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
torque
limb segment
active impedance
impedance element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2007/073093
Other languages
English (en)
French (fr)
Other versions
WO2008097336A3 (en
Inventor
Gabriel Aguirre-Ollinger
Ambarish Goswami
Edward J. Colgate
Michael A. Peshkin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Northwestern University
Original Assignee
Honda Motor Co Ltd
Northwestern University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd, Northwestern University filed Critical Honda Motor Co Ltd
Priority to JP2009548236A priority Critical patent/JP4677047B2/ja
Publication of WO2008097336A2 publication Critical patent/WO2008097336A2/en
Publication of WO2008097336A3 publication Critical patent/WO2008097336A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors

Definitions

  • FIG. 9A illustrates an implementation of a 1-DOF assistive controller based on active admittance, according to one embodiment.
  • the computers referred to in the specification may include a single processor or may be architectures employing multiple processor designs for increased computing capability.
  • the algorithms and displays presented herein are not inherently related to any particular computer or other apparatus.
  • Various general-purpose systems may also be used with programs in accordance with the teachings herein, or it may prove convenient to construct more specialized apparatus to perform the required method steps. The required structure for a variety of these systems will appear from the description below.
  • the present invention is not described with reference to any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any references below to specific languages are provided for disclosure of enablement and best mode of the present invention.
  • FIG. 2 illustrates a 1-DOF assistive exoskeleton for a knee joint, according to one embodiment.
  • the illustrated exoskeleton includes an actuator and an arm and is coupled to the ankle.
  • a linear model of a 1-DOF exoskeleton with its impedance parameters is illustrated in FIG. 3, according to one embodiment.
  • the exoskeleton's impedance parameters include an inertia moment I e (related to the exoskeleton's arm), a damping b e , and a stiffness k e .
  • the "e” subscript refers to "exoskeleton.” Coordinate ⁇ represents the angular position of the actuator of the exoskeleton.
  • the exoskeleton is designed to reduce this needed muscle torque by a certain factor G greater than 1.
  • G the factor
  • the exoskeleton' s virtual impedance Zf(s) is an active impedance.
  • the virtual impedance Zf(s) can vary over time, for example ifZ h (s) or G varies with time.
  • the human impedance terms can be estimated by an appropriate method such as system identification based on least-squares approximation.
  • the virtual impedance terms of the exoskeleton must be negative in order to achieve a scaling of the muscle torque.
  • the passivity condition Re ⁇ Z e d (j ⁇ ) ⁇ ⁇ 0 does not hold.
  • Z e d (s) is an active impedance.
  • the magnitude of the modified human limb impedance, Z/ is less than that of the natural limb impedance, Zy 1 .
  • the measured interaction torque or interaction force ⁇ p _ m is negated and used as input to an active impedance element containing the virtual impedance parameters of the exoskeleton in the form (also known as virtual admittance).
  • the active impedance element generates a commanded angle velocity ⁇ c .
  • the commanded angle velocity is possibly combined with its integral and/or derivative to form a commanded kinematic trajectory q c (comprising angular position, angular velocity and/or angular acceleration) for the exoskeleton.
  • the "c” subscript refers to "command" because the reference trajectory is commanded to the exoskeleton's motor.
  • an active impedance controller comprises an impedance-based torque command generator and a velocity sensor in a feedback loop with the exoskeleton (including elements to control the actuator's motor) and the user.
  • the structure of this controller is illustrated in FIG. 9B.
  • the measured angular velocity ⁇ m is used as an input to an active impedance element containing the virtual impedance parameters of the exoskeleton in the form Zf(s).
  • the active impedance element generates a commanded actuator torque or force ⁇ c .
  • the active impedance controller can be implemented in hardware, software, or both.
  • the signals in the controller may be digital, analog, or both.
  • the modules illustrated in FIGS. 9A and 9B can be combined or further divided into other modules.
  • the impedance controller can be implemented as a part of the exoskeleton, as a part of the exoskeleton's actuator, or separate from the exoskeleton.
  • the virtual dynamics of the exoskeleton are those of an active system.
  • the virtual dynamics of the exoskeleton will be active if Bf is proven to be negative definite.
  • Equation 25 shown also in block (d) of FIG. 12, represents the basic control law for the exoskeleton.
  • this control law is an impedance controller.
  • the exoskeleton enforces the kinematic trajectory represented by q , q andq .

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)
PCT/US2007/073093 2007-02-02 2007-07-09 Controller for an assistive exoskeleton based on active impedance Ceased WO2008097336A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009548236A JP4677047B2 (ja) 2007-02-02 2007-07-09 外骨格のアクチュエータを制御する方法及び制御装置

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US88803507P 2007-02-02 2007-02-02
US60/888,035 2007-02-02
US11/696,110 2007-04-03
US11/696,110 US7731670B2 (en) 2007-02-02 2007-04-03 Controller for an assistive exoskeleton based on active impedance

Publications (2)

Publication Number Publication Date
WO2008097336A2 true WO2008097336A2 (en) 2008-08-14
WO2008097336A3 WO2008097336A3 (en) 2008-11-13

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PCT/US2007/073093 Ceased WO2008097336A2 (en) 2007-02-02 2007-07-09 Controller for an assistive exoskeleton based on active impedance

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US (1) US7731670B2 (cg-RX-API-DMAC7.html)
JP (1) JP4677047B2 (cg-RX-API-DMAC7.html)
WO (1) WO2008097336A2 (cg-RX-API-DMAC7.html)

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JP4677047B2 (ja) 2011-04-27
US20080188907A1 (en) 2008-08-07
WO2008097336A3 (en) 2008-11-13
US7731670B2 (en) 2010-06-08
JP2010517616A (ja) 2010-05-27

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